Remove redundant system_velocity_dynamics function and update `syst…

…em_dynamics` to use `system_acceleration` directly

src/jaxsim/api/ode.py

@@ -1,5 +1,3 @@
-from typing import Any
-
 import jax
 import jax.numpy as jnp
 
@@ -15,56 +13,6 @@
 # ==================================
 
 
-@jax.jit
-@js.common.named_scope
-def system_velocity_dynamics(
-    model: js.model.JaxSimModel,
-    data: js.data.JaxSimModelData,
-    *,
-    link_forces: jtp.Vector | None = None,
-    joint_torques: jtp.Vector | None = None,
-) -> tuple[jtp.Vector, jtp.Vector, dict[str, Any]]:
-    """
-    Compute the dynamics of the system velocity.
-
-    Args:
-        model: The model to consider.
-        data: The data of the considered model.
-        link_forces:
-            The 6D forces to apply to the links expressed in inertial-fixed representation.
-        joint_torques: The joint torques acting on the joints.
-
-    Returns:
-        A tuple containing the derivative of the base 6D velocity in inertial-fixed
-        representation, the derivative of the joint velocities, and auxiliary data
-        returned by the system dynamics evaluation.
-    """
-
-    # Build link forces if not provided.
-    # These forces are expressed in the frame corresponding to the velocity
-    # representation of data.
-    W_f_L = (
-        jnp.atleast_2d(link_forces.squeeze())
-        if link_forces is not None
-        else jnp.zeros((model.number_of_links(), 6))
-    ).astype(float)
-
-    # ===========================
-    # Compute system acceleration
-    # ===========================
-
-    # Compute the system acceleration in inertial-fixed representation.
-    # This representation is useful for integration purpose.
-    W_v̇_WB, s̈ = system_acceleration(
-        model=model,
-        data=data,
-        joint_torques=joint_torques,
-        link_forces=W_f_L,
-    )
-
-    return W_v̇_WB, s̈
-
-
 def system_acceleration(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -197,7 +145,7 @@ def system_dynamics(
     """
 
     with data.switch_velocity_representation(velocity_representation=VelRepr.Inertial):
-        W_v̇_WB, s̈ = system_velocity_dynamics(
+        W_v̇_WB, s̈ = system_acceleration(
             model=model,
             data=data,
             joint_torques=joint_torques,