old_contents: from .constraint import ConstraintType, DiscretizationType
  from .joint_acceleration import JointAccelerationConstraint
  from .joint_velocity import JointVelocityConstraint, JointVelocityConstraintVarying
  from .can_linear_second_order import CanonicalLinearSecondOrderConstraint, canlinear_colloc_to_interpolate
  from .canonical_conic import RobustCanonicalLinearConstraint
  from .canonical_linear import CanonicalLinearConstraint
  
new_contents: """ Module
  """
  from .constraint import ConstraintType, DiscretizationType, Constraint
  from .joint_acceleration import JointAccelerationConstraint
  from .joint_velocity import JointVelocityConstraint, JointVelocityConstraintVarying
  from .can_linear_second_order import CanonicalLinearSecondOrderConstraint, canlinear_colloc_to_interpolate
  from .canonical_conic import RobustCanonicalLinearConstraint
  from .canonical_linear import CanonicalLinearConstraint
  from .joint_torque import JointTorqueConstraint
  
  
  
subject: add dry friction in toppra