CONF Beker_IROS_2025/IDIAP A Smooth Analytical Formulation of Collision Detection and Rigid Body Dynamics with Contact Beker, Onur Gürtler, Nico Shi, Ji René Geist, Andreas Razmjoo, Amirreza Martius, George Calinon, Sylvain Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS) 2025