Remove and deprecate context manager for switching velocity representation#496
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flferretti wants to merge 18 commits intomainfrom
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Remove and deprecate context manager for switching velocity representation#496flferretti wants to merge 18 commits intomainfrom
flferretti wants to merge 18 commits intomainfrom
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| Benchmark suite | Current: 132f760 | Previous: c28e89a | Ratio |
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1.21 |
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tests/test_benchmark.py::test_free_floating_bias_forces[1] |
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1.22 |
tests/test_benchmark.py::test_free_floating_bias_forces[128] |
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1.11 |
tests/test_benchmark.py::test_forward_kinematics[1] |
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1.24 |
tests/test_benchmark.py::test_forward_kinematics[128] |
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31.765642438814933 iter/sec (stddev: 0.0002088457881717258) |
1.14 |
tests/test_benchmark.py::test_free_floating_mass_matrix[1] |
152.83158308217102 iter/sec (stddev: 0.000012938360417174908) |
181.58130216807277 iter/sec (stddev: 0.00005072371260792714) |
1.19 |
tests/test_benchmark.py::test_free_floating_mass_matrix[128] |
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1.16 |
tests/test_benchmark.py::test_free_floating_jacobian[1] |
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1.27 |
tests/test_benchmark.py::test_free_floating_jacobian[128] |
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tests/test_benchmark.py::test_free_floating_jacobian_derivative[1] |
340.5652481854508 iter/sec (stddev: 0.000010220187569187532) |
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1.20 |
tests/test_benchmark.py::test_free_floating_jacobian_derivative[128] |
302.0503731539551 iter/sec (stddev: 0.00001896561229951185) |
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1.00 |
tests/test_benchmark.py::test_soft_contact_model[1] |
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tests/test_benchmark.py::test_soft_contact_model[128] |
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tests/test_benchmark.py::test_rigid_contact_model[1] |
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0.85 |
tests/test_benchmark.py::test_rigid_contact_model[128] |
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1.02 |
tests/test_benchmark.py::test_relaxed_rigid_contact_model[1] |
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tests/test_benchmark.py::test_relaxed_rigid_contact_model[128] |
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tests/test_benchmark.py::test_simulation_step[1] |
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tests/test_benchmark.py::test_simulation_step[128] |
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tests/test_benchmark.py::test_update_hw_parameters[1] |
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tests/test_benchmark.py::test_update_hw_parameters[128] |
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tests/test_benchmark.py::test_export_updated_model[1] |
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tests/test_benchmark.py::test_export_updated_model[128] |
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CI failing due to brentyi/jax_dataclasses#7. They do not fail on Python 3.10 since the environment is using JAX v0.7.2 and the bug in on JAX > v0.8 |
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Pull request overview
This pull request refactors the codebase to remove and deprecate the switch_velocity_representation context manager, replacing it with explicit input_representation and output_representation parameters throughout the API. The changes maintain backward compatibility through deprecation warnings and sensible defaults.
Changes:
- Deprecated the
switch_velocity_representationcontext manager with a clear deprecation warning - Added
output_representationparameter tobase_velocity()andgeneralized_velocity()methods inJaxSimModelData - Added
input_representationand/oroutput_representationparameters to numerous API functions across model, link, frame, contact, COM, ODE, and references modules - Updated all tests to use the new explicit parameter API instead of the context manager
- Updated example notebook to demonstrate the new API patterns
Reviewed changes
Copilot reviewed 22 out of 22 changed files in this pull request and generated 8 comments.
Show a summary per file
| File | Description |
|---|---|
src/jaxsim/api/common.py |
Added deprecation warning to switch_velocity_representation context manager |
src/jaxsim/api/data.py |
Converted base_velocity and generalized_velocity from properties to methods accepting output_representation parameter; added input_representation to replace() |
src/jaxsim/api/references.py |
Added output_representation and input_representation parameters to link_forces() and apply_link_forces() |
src/jaxsim/api/model.py |
Added input_representation and output_representation parameters to multiple functions including jacobians, mass matrices, dynamics functions, and momenta computations |
src/jaxsim/api/ode.py |
Added output_representation parameter to system dynamics functions |
src/jaxsim/api/link.py |
Added input_representation parameter to jacobian() and jacobian_derivative() |
src/jaxsim/api/frame.py |
Added input_representation parameter to frame jacobian functions |
src/jaxsim/api/contact.py |
Added input_representation parameter to contact jacobian functions |
src/jaxsim/api/com.py |
Added output_representation parameter to centroidal momentum and related functions |
src/jaxsim/api/integrators.py |
Updated integrators to use new API with explicit representation parameters |
src/jaxsim/rbda/kinematic_constraints.py |
Replaced context manager usage with explicit parameters |
src/jaxsim/rbda/contacts/rigid.py |
Replaced context manager usage with explicit parameters |
src/jaxsim/rbda/contacts/relaxed_rigid.py |
Replaced context manager usage with explicit parameters |
tests/*.py |
Removed all context manager usage; updated tests to use new parameter-based API |
examples/jaxsim_as_multibody_dynamics_library.ipynb |
Updated to demonstrate new API patterns |
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This PR refactors the handling of velocity representations throughout the codebase, moving away from the deprecated
switch_velocity_representationcontext manager and instead encouraging the explicit use ofinput_representationandoutput_representationparameters in relevant API methods. The backward compatibility is maintained.Fixes https://github.com/gbionics/element_differentiable_simulators_for_codesign/issues/31
📚 Documentation preview 📚: https://jaxsim--496.org.readthedocs.build//496/