Remove and deprecate context manager for switching velocity representation

[flferretti]

This PR refactors the handling of velocity representations throughout the codebase, moving away from the deprecated switch_velocity_representation context manager and instead encouraging the explicit use of input_representation and output_representation parameters in relevant API methods. The backward compatibility is maintained.

Fixes https://github.com/gbionics/element_differentiable_simulators_for_codesign/issues/31

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📚 Documentation preview 📚: https://jaxsim--496.org.readthedocs.build//496/

[github-actions]

Benchmark

Details

Benchmark suite	Current: 132f760	Previous: c28e89a	Ratio
tests/test_benchmark.py::test_forward_dynamics_aba[1]	319.2614265783487 iter/sec (stddev: 0.000007687928414904411)	385.94492720843766 iter/sec (stddev: 0.000009463978323506126)	1.21
tests/test_benchmark.py::test_forward_dynamics_aba[128]	26.061866324206303 iter/sec (stddev: 0.00011850005770402863)	29.216966653272625 iter/sec (stddev: 0.00011455086573428671)	1.12
tests/test_benchmark.py::test_free_floating_bias_forces[1]	297.2319063826794 iter/sec (stddev: 0.000010252393984526802)	361.396251061539 iter/sec (stddev: 0.00000910574964681653)	1.22
tests/test_benchmark.py::test_free_floating_bias_forces[128]	14.566249466118304 iter/sec (stddev: 0.0003354849913413401)	16.218942194940492 iter/sec (stddev: 0.00025096534945186314)	1.11
tests/test_benchmark.py::test_forward_kinematics[1]	364.948987035732 iter/sec (stddev: 0.000010465405339996125)	452.4863643105723 iter/sec (stddev: 0.000008022285629396292)	1.24
tests/test_benchmark.py::test_forward_kinematics[128]	27.985786413362845 iter/sec (stddev: 0.00008688390795512073)	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]	150.63494789138753 iter/sec (stddev: 0.000014898060859762702)	175.24079377087364 iter/sec (stddev: 0.000018760096947039575)	1.16
tests/test_benchmark.py::test_free_floating_jacobian[1]	413.8739908587021 iter/sec (stddev: 0.000009812410856679114)	525.7508803201982 iter/sec (stddev: 0.000006377672924636457)	1.27
tests/test_benchmark.py::test_free_floating_jacobian[128]	417.5550110080922 iter/sec (stddev: 0.000007741334773995725)	534.2483568468638 iter/sec (stddev: 0.000006942445781767468)	1.28
tests/test_benchmark.py::test_free_floating_jacobian_derivative[1]	340.5652481854508 iter/sec (stddev: 0.000010220187569187532)	410.0473494948492 iter/sec (stddev: 0.000012243950755069747)	1.20
tests/test_benchmark.py::test_free_floating_jacobian_derivative[128]	302.0503731539551 iter/sec (stddev: 0.00001896561229951185)	302.58988317111164 iter/sec (stddev: 0.000015109621352982298)	1.00
tests/test_benchmark.py::test_soft_contact_model[1]	263.3831503704675 iter/sec (stddev: 0.000013667442949718066)	349.9366267743607 iter/sec (stddev: 0.00000947480013200776)	1.33
tests/test_benchmark.py::test_soft_contact_model[128]	25.660711736857994 iter/sec (stddev: 0.00038516959783075624)	29.951416599383442 iter/sec (stddev: 0.0001405258247109449)	1.17
tests/test_benchmark.py::test_rigid_contact_model[1]	47.315541190779996 iter/sec (stddev: 0.00036622850586332884)	40.276241063183 iter/sec (stddev: 0.000024302278784552764)	0.85
tests/test_benchmark.py::test_rigid_contact_model[128]	0.7096774853548944 iter/sec (stddev: 0.0003874925270677735)	0.7258859819172665 iter/sec (stddev: 0.0003607214923404956)	1.02
tests/test_benchmark.py::test_relaxed_rigid_contact_model[1]	98.56515506807776 iter/sec (stddev: 0.00014369177693839108)	74.75017951811331 iter/sec (stddev: 0.00003167479964364776)	0.76
tests/test_benchmark.py::test_relaxed_rigid_contact_model[128]	5.071128280533731 iter/sec (stddev: 0.00036197841157675623)	6.400062476314604 iter/sec (stddev: 0.00024891629896200675)	1.26
tests/test_benchmark.py::test_simulation_step[1]	87.4176223371017 iter/sec (stddev: 0.00001416886654168995)	69.29459728383536 iter/sec (stddev: 0.00002754549281911007)	0.79
tests/test_benchmark.py::test_simulation_step[128]	4.471230938738151 iter/sec (stddev: 0.0006089090944558373)	5.39599749835251 iter/sec (stddev: 0.000279412049524645)	1.21
tests/test_benchmark.py::test_update_hw_parameters[1]	101.39066404130952 iter/sec (stddev: 0.00004172880549589833)
tests/test_benchmark.py::test_update_hw_parameters[128]	101.49678889914968 iter/sec (stddev: 0.0000930788430776146)
tests/test_benchmark.py::test_export_updated_model[1]	3.4422759114776014 iter/sec (stddev: 0.006553000240783159)
tests/test_benchmark.py::test_export_updated_model[128]	0.018957285274988724 iter/sec (stddev: 0.5984209323189633)

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[flferretti]

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