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Remove and deprecate context manager for switching velocity representation - #496
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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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Closing as stale |
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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/