Implement parametric collision shapes scaling

[flferretti]

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📚 Documentation preview 📚: https://jaxsim--430.org.readthedocs.build//430/

[github-actions]

Benchmark

Benchmark suite	Current: 25f77f1	Previous: 8d5c896	Ratio
tests/test_benchmark.py::test_forward_dynamics_aba[1]	33.80595050389592 iter/sec (stddev: 0.00014562068999637628)	33.99270710150131 iter/sec (stddev: 0.00009160345295732999)	1.01
tests/test_benchmark.py::test_forward_dynamics_aba[128]	15.699963097482735 iter/sec (stddev: 0.00031166036103663235)	15.450388973393041 iter/sec (stddev: 0.00039276707628969594)	0.98
tests/test_benchmark.py::test_free_floating_bias_forces[1]	27.07208888880161 iter/sec (stddev: 0.000374468825180427)	28.072185819254948 iter/sec (stddev: 0.0001405275314719085)	1.04
tests/test_benchmark.py::test_free_floating_bias_forces[128]	11.165472359307854 iter/sec (stddev: 0.0005900440611026177)	10.661461909768686 iter/sec (stddev: 0.0003774590436268307)	0.95
tests/test_benchmark.py::test_forward_kinematics[1]	78.29698099593 iter/sec (stddev: 0.00018828055456481912)	80.47867539657375 iter/sec (stddev: 0.0008406595365800215)	1.03
tests/test_benchmark.py::test_forward_kinematics[128]	23.80789707753112 iter/sec (stddev: 0.0003839469501514004)	22.963981536068786 iter/sec (stddev: 0.00018004443135162003)	0.96
tests/test_benchmark.py::test_free_floating_mass_matrix[1]	40.16018293465578 iter/sec (stddev: 0.0003988572091542934)	41.68963883859595 iter/sec (stddev: 0.00016661815474607527)	1.04
tests/test_benchmark.py::test_free_floating_mass_matrix[128]	40.28510359145413 iter/sec (stddev: 0.00024874383170222163)	41.30544074968093 iter/sec (stddev: 0.00006869051943032785)	1.03
tests/test_benchmark.py::test_free_floating_jacobian[1]	52.94349268802088 iter/sec (stddev: 0.0002017124054414249)	54.710482035025365 iter/sec (stddev: 0.0000771513049637593)	1.03
tests/test_benchmark.py::test_free_floating_jacobian[128]	53.39072061792257 iter/sec (stddev: 0.00020632139427902916)	54.13600959838642 iter/sec (stddev: 0.0002066391631624143)	1.01
tests/test_benchmark.py::test_free_floating_jacobian_derivative[1]	31.287214545541058 iter/sec (stddev: 0.00013004588314452257)	32.31611675089207 iter/sec (stddev: 0.0004465427329110755)	1.03
tests/test_benchmark.py::test_free_floating_jacobian_derivative[128]	32.00986222477749 iter/sec (stddev: 0.0003455012455343855)	32.8020875749547 iter/sec (stddev: 0.00027199927237599305)	1.02
tests/test_benchmark.py::test_soft_contact_model[1]	29.43650780567952 iter/sec (stddev: 0.0002819098787465886)	30.416550779490947 iter/sec (stddev: 0.00009594224392172117)	1.03
tests/test_benchmark.py::test_soft_contact_model[128]	14.285529795538553 iter/sec (stddev: 0.0005003629030217019)	14.145201786398033 iter/sec (stddev: 0.0005232496065842119)	0.99
tests/test_benchmark.py::test_rigid_contact_model[1]	6.25253702484577 iter/sec (stddev: 0.0005847947582322149)	6.438860629793804 iter/sec (stddev: 0.00028284443651919447)	1.03
tests/test_benchmark.py::test_rigid_contact_model[128]	0.843547757084934 iter/sec (stddev: 0.0011636474404721946)	0.8450260471582455 iter/sec (stddev: 0.0007584783160614406)	1.00
tests/test_benchmark.py::test_relaxed_rigid_contact_model[1]	5.736794936740054 iter/sec (stddev: 0.0013971094685963842)	5.901695040090421 iter/sec (stddev: 0.0008691354003239028)	1.03
tests/test_benchmark.py::test_relaxed_rigid_contact_model[128]	3.381790891356003 iter/sec (stddev: 0.0006485576783094078)	3.3393481643233303 iter/sec (stddev: 0.0005133033064496388)	0.99
tests/test_benchmark.py::test_simulation_step[1]	4.653920276228124 iter/sec (stddev: 0.001067888138778195)	4.792670117574774 iter/sec (stddev: 0.00041546735946859745)	1.03
tests/test_benchmark.py::test_simulation_step[128]	2.6240756732420683 iter/sec (stddev: 0.0006808093491132018)	2.6082535675050296 iter/sec (stddev: 0.0013605955461495007)	0.99

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[flferretti]

C.C. @CarlottaSartore