Fix AD test

tests/test_automatic_differentiation.py

@@ -305,9 +305,9 @@ def close_over_inputs_and_parameters(
         p: jtp.VectorLike,
         v: jtp.VectorLike,
         m: jtp.VectorLike,
-        params: jaxsim.rbda.SoftContactsParams,
+        params: js.soft_contacts.SoftContactsParams,
     ) -> tuple[jtp.Vector, jtp.Vector]:
-        return jaxsim.rbda.SoftContacts(parameters=params).contact_model(
+        return js.soft_contacts.SoftContacts(parameters=params).contact_model(
             position=p, velocity=v, tangential_deformation=m
         )
 
@@ -341,7 +341,7 @@ def test_ad_integration(
     s = data.joint_positions(model=model)
     W_v_WB = data.base_velocity()
     ṡ = data.joint_velocities(model=model)
-    m = data.state.soft_contacts.tangential_deformation
+    m = data.state.contact_state.tangential_deformation
 
     # Inputs.
     W_f_L = references.link_forces(model=model)
@@ -395,7 +395,7 @@ def step(
                     base_angular_velocity=W_v_WB[3:6],
                     joint_velocities=ṡ,
                 ),
-                soft_contacts_state=js.rbda.soft_contacs.SoftContactsState.build(
+                soft_contacts_state=js.soft_contacts.SoftContactsState.build(
                     tangential_deformation=m
                 ),
             ),
@@ -416,7 +416,7 @@ def step(
         xf_s = data_xf.joint_positions(model=model)
         xf_W_v_WB = data_xf.base_velocity()
         xf_ṡ = data_xf.joint_velocities(model=model)
-        xf_m = data_xf.state.soft_contacts.tangential_deformation
+        xf_m = data_xf.state.contact_state.tangential_deformation
 
         return xf_W_p_B, xf_W_Q_B, xf_s, xf_W_v_WB, xf_ṡ, xf_m