Fix references representation in system_velocity_dynamics

[xela-95]

In system_velocity_dynamics we create a references instance with the input velocity representation of data, then we call js.contact.collidable_point_dynamics inside a context manager in which data representation has been switched to Inertial, but in this case the references object has not been switched accordingly, with the result that in the cases of input data representation being Body or Mixed the link forces passed to js.contact.collidable_point_dynamics could be wrong.

Let me know what do you think :)

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📚 Documentation preview 📚: https://jaxsim--240.org.readthedocs.build//240/

[flferretti]

Thanks a lot @xela-95, LGTM!

[diegoferigo]

Good catch @xela-95! Probably it went under our radar in one of the latest changes of this function.

Just yesterday I found a problem in js.contact.collidable_point_dynamics when the representation of data is not Inertial. I still need to push it, though. If this is the use-case in any of your scripts, let me know so that I prioritize the PR.

[xela-95]

Just yesterday I found a problem in js.contact.collidable_point_dynamics when the representation of data is not Inertial. I still need to push it, though. If this is the use-case in any of your scripts, let me know so that I prioritize the PR.

Ah ok! @diegoferigo if you want to push a PR even in draft it will be great for me since I'm testing the behavior of contacts under different conditions :)

[diegoferigo]

Just yesterday I found a problem in js.contact.collidable_point_dynamics when the representation of data is not Inertial. I still need to push it, though. If this is the use-case in any of your scripts, let me know so that I prioritize the PR.

Ah ok! @diegoferigo if you want to push a PR even in draft it will be great for me since I'm testing the behavior of contacts under different conditions :)

Sure, done in #241.