Disable some exception while tracing

src/jaxsim/api/data.py

@@ -14,6 +14,7 @@
 import jaxsim.rbda
 import jaxsim.typing as jtp
 from jaxsim.utils import Mutability
+from jaxsim.utils.tracing import not_tracing
 
 from . import common
 from .common import VelRepr
@@ -260,9 +261,14 @@ def joint_positions(
         """
 
         if model is None:
+            if joint_names is not None:
+                raise ValueError("Joint names cannot be provided without a model")
+
             return self.state.physics_model.joint_positions
 
-        if not self.valid(model=model):
+        if not_tracing(self.state.physics_model.joint_positions) and not self.valid(
+            model=model
+        ):
             msg = "The data object is not compatible with the provided model"
             raise ValueError(msg)
 
@@ -300,9 +306,14 @@ def joint_velocities(
         """
 
         if model is None:
+            if joint_names is not None:
+                raise ValueError("Joint names cannot be provided without a model")
+
             return self.state.physics_model.joint_velocities
 
-        if not self.valid(model=model):
+        if not_tracing(self.state.physics_model.joint_velocities) and not self.valid(
+            model=model
+        ):
             msg = "The data object is not compatible with the provided model"
             raise ValueError(msg)
 

src/jaxsim/api/references.py

@@ -9,6 +9,7 @@
 import jaxsim.api as js
 import jaxsim.typing as jtp
 from jaxsim.simulation.ode_data import ODEInput
+from jaxsim.utils.tracing import not_tracing
 
 from .common import VelRepr
 
@@ -198,7 +199,7 @@ def link_forces(
             msg = "Missing model data to use a representation different from {}"
             raise ValueError(msg.format(VelRepr.Inertial.name))
 
-        if not data.valid(model=model):
+        if not_tracing(self.input.physics_model.f_ext) and not data.valid(model=model):
             raise ValueError("The provided data is not valid for the model")
 
         # Helper function to convert a single 6D force to the active representation.
@@ -252,7 +253,7 @@ def joint_force_references(
 
             return self.input.physics_model.tau
 
-        if not self.valid(model=model):
+        if not_tracing(self.input.physics_model.tau) and not self.valid(model=model):
             msg = "The actuation object is not compatible with the provided model"
             raise ValueError(msg)
 
@@ -303,7 +304,7 @@ def replace(forces: jtp.VectorLike) -> JaxSimModelReferences:
         if model is None:
             return replace(forces=forces)
 
-        if not self.valid(model=model):
+        if not_tracing(forces) and not self.valid(model=model):
             msg = "The references object is not compatible with the provided model"
             raise ValueError(msg)
 
@@ -401,7 +402,7 @@ def replace(forces: jtp.MatrixLike) -> JaxSimModelReferences:
             msg = "Missing model data to use a representation different from {}"
             raise ValueError(msg.format(VelRepr.Inertial.name))
 
-        if not data.valid(model=model):
+        if not_tracing(forces) and not data.valid(model=model):
             raise ValueError("The provided data is not valid for the model")
 
         # Helper function to convert a single 6D force to the inertial representation.