[Sprint] Set mixed as default representation in data.build
#361
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…em_dynamics` to use `system_acceleration` directly
…m_velocity_dynamics`
flferretti
approved these changes
Jan 30, 2025
CarlottaSartore
approved these changes
Jan 30, 2025
CarlottaSartore
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Feb 4, 2025
* Rename base linear and angular velocity parameters in `forward_kinematics_model` * Update JaxSimModelData to use Mixed as default repr. in `build` function * Restore `step` function to accept link forces in the same reprensentation of data * Refactor tests to reflect changes in API * Remove redundant `system_velocity_dynamics` function and update `system_dynamics` to use `system_acceleration` directly * Update `step` function to use `system_acceleration` instead of `system_velocity_dynamics` * Format `test_automatic_differentiation.py`
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This PR introduced the following changes:
data.buildmethod to use the mixed representation if not specifiedmodel.stepto accept link forces in any representation (as done in main)ode.system_velocity_dynamicssince its job has been extracted in other functions and now is a duplicated ofsystem_acceleration📚 Documentation preview 📚: https://jaxsim--361.org.readthedocs.build//361/