Update FD test

tests/test_forward_dynamics.py

@@ -2,8 +2,8 @@
 import pytest
 from pytest import param as p
 
-from jaxsim.high_level.common import VelRepr
-from jaxsim.high_level.model import Model
+import jaxsim.api as js
+from jaxsim import VelRepr
 
 from . import utils_models, utils_rng
 from .utils_models import Robot
@@ -37,35 +37,39 @@ def test_aba(robot: utils_models.Robot, vel_repr: VelRepr) -> None:
     # Get the URDF of the robot
     urdf_file_path = utils_models.ModelFactory.get_model_description(robot=robot)
 
-    # Build the high-level model
-    model = Model.build_from_model_description(
+    # Build the model
+    model = js.model.JaxSimModel.build_from_model_description(
         model_description=urdf_file_path,
-        vel_repr=vel_repr,
-        gravity=gravity,
         is_urdf=True,
-    ).mutable(mutable=True, validate=True)
+        gravity=gravity,
+    )
+
+    random_state = utils_rng.random_model_state(model=model)
 
     # Initialize the model with a random state
-    model.data.model_state = utils_rng.random_physics_model_state(
-        physics_model=model.physics_model
+    data = js.data.JaxSimModelData.build(
+        model=model, velocity_representation=vel_repr, **random_state
     )
 
     # Initialize the model with a random input
-    model.data.model_input = utils_rng.random_physics_model_input(
-        physics_model=model.physics_model
-    )
-
-    # Get the joint torques
-    tau = model.joint_generalized_forces_targets()
+    tau, _ = utils_rng.random_model_input(model=model)
 
     # Compute model acceleration with ABA
-    v̇_WB_aba, s̈_aba = model.forward_dynamics_aba(tau=tau)
+    v̇_WB_aba, s̈_aba = js.model.forward_dynamics_aba(
+        model=model,
+        data=data,
+        joint_forces=tau,
+    )
 
     # ==============================================
     # Compute forward dynamics with dedicated method
     # ==============================================
 
-    v̇_WB, s̈ = model.forward_dynamics_crb(tau=tau)
+    v̇_WB, s̈ = js.model.forward_dynamics_crb(
+        model=model,
+        data=data,
+        joint_forces=tau,
+    )
 
     assert s̈.squeeze() == pytest.approx(s̈_aba.squeeze(), abs=0.5)
     assert v̇_WB.squeeze() == pytest.approx(v̇_WB_aba.squeeze(), abs=0.2)