jaxsim 0.4.3.dev64__tar.gz → 0.4.3.dev68__tar.gz

{jaxsim-0.4.3.dev64 → jaxsim-0.4.3.dev68}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.4.3.dev64
+Version: 0.4.3.dev68
 Summary: A differentiable physics engine and multibody dynamics library for control and robot learning.
 Author-email: Diego Ferigo <dgferigo@gmail.com>
 Maintainer-email: Diego Ferigo <dgferigo@gmail.com>, Filippo Luca Ferretti <filippo.ferretti@iit.it>
@@ -61,7 +61,6 @@ Description-Content-Type: text/markdown
 License-File: LICENSE
 Requires-Dist: coloredlogs
 Requires-Dist: jax>=0.4.13
-Requires-Dist: jaxopt>=0.8.0
 Requires-Dist: jaxlib>=0.4.13
 Requires-Dist: jaxlie>=1.3.0
 Requires-Dist: jax_dataclasses>=1.4.0

{jaxsim-0.4.3.dev64 → jaxsim-0.4.3.dev68}/environment.yml

@@ -8,7 +8,6 @@ dependencies:
   - python >= 3.12.0
   - coloredlogs
   - jax >= 0.4.13
-  - jaxopt >= 0.8.0
   - jaxlib >= 0.4.13
   - jaxlie >= 1.3.0
   - jax-dataclasses >= 1.4.0

{jaxsim-0.4.3.dev64 → jaxsim-0.4.3.dev68}/pyproject.toml

@@ -45,7 +45,6 @@ classifiers = [
 dependencies = [
     "coloredlogs",
     "jax >= 0.4.13",
-    "jaxopt >= 0.8.0",
     "jaxlib >= 0.4.13",
     "jaxlie >= 1.3.0",
     "jax_dataclasses >= 1.4.0",
@@ -182,7 +181,6 @@ platforms = ["linux-64", "osx-arm64", "osx-64"]
 coloredlogs = "*"
 jax = "*"
 jax-dataclasses = "*"
-jaxopt = "*"
 jaxlib = "*"
 jaxlie = "*"
 lxml = "*"

{jaxsim-0.4.3.dev64 → jaxsim-0.4.3.dev68}/src/jaxsim/__init__.py

@@ -20,11 +20,6 @@ def _jnp_options() -> None:
         if jnp.empty(0, dtype=float).dtype != jnp.empty(0, dtype=np.float64).dtype:
             logging.warning("Failed to enable 64bit precision in JAX")
 
-    else:
-        logging.warning(
-            "Using 32bit precision in JaxSim is still experimental, please avoid to use variable step integrators."
-        )
-
 
 def _np_options() -> None:
     import numpy as np

{jaxsim-0.4.3.dev64 → jaxsim-0.4.3.dev68}/src/jaxsim/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.4.3.dev64'
-__version_tuple__ = version_tuple = (0, 4, 3, 'dev64')
+__version__ = version = '0.4.3.dev68'
+__version_tuple__ = version_tuple = (0, 4, 3, 'dev68')

{jaxsim-0.4.3.dev64 → jaxsim-0.4.3.dev68}/src/jaxsim/api/contact.py

@@ -131,8 +131,7 @@ def collidable_point_dynamics(
     Returns:
         The 6D force applied to each collidable point and additional data based on the contact model configured:
         - Soft: the material deformation rate.
-        - Rigid: no additional data.
-        - QuasiRigid: no additional data.
+        - Rigid: nothing.
 
     Note:
         The material deformation rate is always returned in the mixed frame
@@ -145,10 +144,6 @@ def collidable_point_dynamics(
     W_p_Ci, W_ṗ_Ci = js.contact.collidable_point_kinematics(model=model, data=data)
 
     # Import privately the contacts classes.
-    from jaxsim.rbda.contacts.relaxed_rigid import (
-        RelaxedRigidContacts,
-        RelaxedRigidContactsState,
-    )
     from jaxsim.rbda.contacts.rigid import RigidContacts, RigidContactsState
     from jaxsim.rbda.contacts.soft import SoftContacts, SoftContactsState
 
@@ -195,27 +190,6 @@ def collidable_point_dynamics(
 
             aux_data = dict()
 
-        case RelaxedRigidContacts():
-            assert isinstance(model.contact_model, RelaxedRigidContacts)
-            assert isinstance(data.state.contact, RelaxedRigidContactsState)
-
-            # Build the contact model.
-            relaxed_rigid_contacts = RelaxedRigidContacts(
-                parameters=data.contacts_params, terrain=model.terrain
-            )
-
-            # Compute the 6D force expressed in the inertial frame and applied to each
-            # collidable point.
-            W_f_Ci, _ = relaxed_rigid_contacts.compute_contact_forces(
-                position=W_p_Ci,
-                velocity=W_ṗ_Ci,
-                model=model,
-                data=data,
-                link_forces=link_forces,
-            )
-
-            aux_data = dict()
-
         case _:
             raise ValueError(f"Invalid contact model {model.contact_model}")
 

{jaxsim-0.4.3.dev64 → jaxsim-0.4.3.dev68}/src/jaxsim/api/data.py

@@ -39,9 +39,7 @@ class JaxSimModelData(common.ModelDataWithVelocityRepresentation):
     contacts_params: jaxsim.rbda.ContactsParams = dataclasses.field(repr=False)
 
     time_ns: jtp.Int = dataclasses.field(
-        default_factory=lambda: jnp.array(
-            0, dtype=jnp.uint64 if jax.config.read("jax_enable_x64") else jnp.uint32
-        ),
+        default_factory=lambda: jnp.array(0, dtype=jnp.uint64)
     )
 
     def __hash__(self) -> int:
@@ -174,14 +172,9 @@ class JaxSimModelData(common.ModelDataWithVelocityRepresentation):
         )
 
         time_ns = (
-            jnp.array(
-                time * 1e9,
-                dtype=jnp.uint64 if jax.config.read("jax_enable_x64") else jnp.uint32,
-            )
+            jnp.array(time * 1e9, dtype=jnp.uint64)
             if time is not None
-            else jnp.array(
-                0, dtype=jnp.uint64 if jax.config.read("jax_enable_x64") else jnp.uint32
-            )
+            else jnp.array(0, dtype=jnp.uint64)
         )
 
         if isinstance(model.contact_model, SoftContacts):
@@ -593,18 +586,16 @@ class JaxSimModelData(common.ModelDataWithVelocityRepresentation):
             The updated `JaxSimModelData` object.
         """
 
-        W_Q_B = jnp.array(base_quaternion, dtype=float)
-
-        W_Q_B = jax.lax.select(
-            pred=jnp.allclose(jnp.linalg.norm(W_Q_B), 1.0, atol=1e-6, rtol=0.0),
-            on_true=W_Q_B,
-            on_false=W_Q_B / jnp.linalg.norm(W_Q_B),
-        )
+        base_quaternion = jnp.array(base_quaternion)
 
         return self.replace(
             validate=True,
             state=self.state.replace(
-                physics_model=self.state.physics_model.replace(base_quaternion=W_Q_B)
+                physics_model=self.state.physics_model.replace(
+                    base_quaternion=jnp.atleast_1d(base_quaternion.squeeze()).astype(
+                        float
+                    )
+                )
             ),
         )
 
@@ -746,13 +737,6 @@ def random_model_data(
         jtp.FloatLike | Sequence[jtp.FloatLike],
         jtp.FloatLike | Sequence[jtp.FloatLike],
     ] = ((-1, -1, 0.5), 1.0),
-    joint_pos_bounds: (
-        tuple[
-            jtp.FloatLike | Sequence[jtp.FloatLike],
-            jtp.FloatLike | Sequence[jtp.FloatLike],
-        ]
-        | None
-    ) = None,
     base_vel_lin_bounds: tuple[
         jtp.FloatLike | Sequence[jtp.FloatLike],
         jtp.FloatLike | Sequence[jtp.FloatLike],
@@ -778,8 +762,6 @@ def random_model_data(
         key: The random key.
         velocity_representation: The velocity representation to use.
         base_pos_bounds: The bounds for the base position.
-        joint_pos_bounds:
-            The bounds for the joint positions (reading the joint limits if None).
         base_vel_lin_bounds: The bounds for the base linear velocity.
         base_vel_ang_bounds: The bounds for the base angular velocity.
         joint_vel_bounds: The bounds for the joint velocities.
@@ -824,19 +806,8 @@ def random_model_data(
         ).wxyz
 
         if model.number_of_joints() > 0:
-
-            s_min, s_max = (
-                jnp.array(joint_pos_bounds, dtype=float)
-                if joint_pos_bounds is not None
-                else (None, None)
-            )
-
-            physics_model_state.joint_positions = (
-                js.joint.random_joint_positions(model=model, key=k3)
-                if (s_min is None or s_max is None)
-                else jax.random.uniform(
-                    key=k3, shape=(model.dofs(),), minval=s_min, maxval=s_max
-                )
+            physics_model_state.joint_positions = js.joint.random_joint_positions(
+                model=model, key=k3
             )
 
             physics_model_state.joint_velocities = jax.random.uniform(

{jaxsim-0.4.3.dev64 → jaxsim-0.4.3.dev68}/src/jaxsim/api/joint.py

@@ -180,77 +180,17 @@ def random_joint_positions(
 
     Args:
         model: The model to consider.
-        joint_names: The names of the considered joints (all if None).
-        key: The random key (initialized from seed 0 if None).
-
-    Note:
-        If the joint range or revolute joints is larger than 2π, their joint positions
-        will be sampled from an interval of size 2π.
+        joint_names: The names of the joints.
+        key: The random key.
 
     Returns:
         The random joint positions.
     """
 
-    # Consider the key corresponding to a zero seed if it was not passed.
     key = key if key is not None else jax.random.PRNGKey(seed=0)
 
-    # Get the joint limits parsed from the model description.
     s_min, s_max = position_limits(model=model, joint_names=joint_names)
 
-    # Get the joint indices.
-    # Note that it will trigger an exception if the given `joint_names` are not valid.
-    joint_names = joint_names if joint_names is not None else model.joint_names()
-    joint_indices = names_to_idxs(model=model, joint_names=joint_names)
-
-    from jaxsim.parsers.descriptions.joint import JointType
-
-    # Filter for revolute joints.
-    is_revolute = jnp.where(
-        jnp.array(model.kin_dyn_parameters.joint_model.joint_types[1:])[joint_indices]
-        == JointType.Revolute,
-        True,
-        False,
-    )
-
-    # Shorthand for π.
-    π = jnp.pi
-
-    # Filter for revolute with full range (or continuous).
-    is_revolute_full_range = jnp.logical_and(is_revolute, s_max - s_min >= 2 * π)
-
-    # Clip the lower limit to -π if the joint range is larger than [-π, π].
-    s_min = jnp.where(
-        jnp.logical_and(
-            is_revolute_full_range, jnp.logical_and(s_min <= -π, s_max >= π)
-        ),
-        -π,
-        s_min,
-    )
-
-    # Clip the upper limit to +π if the joint range is larger than [-π, π].
-    s_max = jnp.where(
-        jnp.logical_and(
-            is_revolute_full_range, jnp.logical_and(s_min <= -π, s_max >= π)
-        ),
-        π,
-        s_max,
-    )
-
-    # Shift the lower limit if the upper limit is smaller than +π.
-    s_min = jnp.where(
-        jnp.logical_and(is_revolute_full_range, s_max < π),
-        s_max - 2 * π,
-        s_min,
-    )
-
-    # Shift the upper limit if the lower limit is larger than -π.
-    s_max = jnp.where(
-        jnp.logical_and(is_revolute_full_range, s_min > -π),
-        s_min + 2 * π,
-        s_max,
-    )
-
-    # Sample the joint positions.
     s_random = jax.random.uniform(
         minval=s_min,
         maxval=s_max,

{jaxsim-0.4.3.dev64 → jaxsim-0.4.3.dev68}/src/jaxsim/api/model.py

@@ -1931,22 +1931,11 @@ def step(
         ),
     )
 
-    tf_ns = t0_ns + jnp.array(dt * 1e9, dtype=t0_ns.dtype)
-    tf_ns = jnp.where(tf_ns >= t0_ns, tf_ns, jnp.array(0, dtype=t0_ns.dtype))
-
-    jax.lax.cond(
-        pred=tf_ns < t0_ns,
-        true_fun=lambda: jax.debug.print(
-            "The simulation time overflowed, resetting simulation time to 0."
-        ),
-        false_fun=lambda: None,
-    )
-
     data_tf = (
         # Store the new state of the model and the new time.
         data.replace(
             state=state_tf,
-            time_ns=tf_ns,
+            time_ns=t0_ns + jnp.array(dt * 1e9).astype(jnp.uint64),
         )
     )
 

{jaxsim-0.4.3.dev64 → jaxsim-0.4.3.dev68}/src/jaxsim/api/ode.py

@@ -175,15 +175,17 @@ def system_velocity_dynamics(
             forces=W_f_Li_terrain,
             additive=True,
         )
-
-        # Get the link forces in inertial representation
+    # Get the link forces in the data representation
+    with references.switch_velocity_representation(data.velocity_representation):
         f_L_total = references.link_forces(model=model, data=data)
 
-        v̇_WB, s̈ = system_acceleration(
-            model=model, data=data, joint_forces=joint_forces, link_forces=f_L_total
-        )
+    # The following method always returns the inertial-fixed acceleration, and expects
+    # the link_forces expressed in the inertial frame.
+    W_v̇_WB, s̈ = system_acceleration(
+        model=model, data=data, joint_forces=joint_forces, link_forces=f_L_total
+    )
 
-    return v̇_WB, s̈, aux_data
+    return W_v̇_WB, s̈, aux_data
 
 
 def system_acceleration(
@@ -194,7 +196,7 @@ def system_acceleration(
     link_forces: jtp.MatrixLike | None = None,
 ) -> tuple[jtp.Vector, jtp.Vector]:
     """
-    Compute the system acceleration in the active representation.
+    Compute the system acceleration in inertial-fixed representation.
 
     Args:
         model: The model to consider.
@@ -204,7 +206,7 @@ def system_acceleration(
             The 6D forces to apply to the links expressed in the same representation of data.
 
     Returns:
-        A tuple containing the base 6D acceleration in in the active representation
+        A tuple containing the base 6D acceleration in inertial-fixed representation
         and the joint accelerations.
     """
 
@@ -270,15 +272,18 @@ def system_acceleration(
     )
 
     # - Joint accelerations: s̈ ∈ ℝⁿ
-    # - Base acceleration: v̇_WB ∈ ℝ⁶
-    v̇_WB, s̈ = js.model.forward_dynamics_aba(
-        model=model,
-        data=data,
-        joint_forces=references.joint_force_references(model=model),
-        link_forces=references.link_forces(model=model, data=data),
-    )
-
-    return v̇_WB, s̈
+    # - Base inertial-fixed acceleration: W_v̇_WB = (W_p̈_B, W_ω̇_B) ∈ ℝ⁶
+    with (
+        data.switch_velocity_representation(velocity_representation=VelRepr.Inertial),
+        references.switch_velocity_representation(VelRepr.Inertial),
+    ):
+        W_v̇_WB, s̈ = js.model.forward_dynamics_aba(
+            model=model,
+            data=data,
+            joint_forces=references.joint_force_references(),
+            link_forces=references.link_forces(),
+        )
+    return W_v̇_WB, s̈
 
 
 @jax.jit
@@ -348,7 +353,7 @@ def system_dynamics(
         corresponding derivative, and the dictionary of auxiliary data returned
         by the system dynamics evaluation.
     """
-    from jaxsim.rbda.contacts.relaxed_rigid import RelaxedRigidContacts
+
     from jaxsim.rbda.contacts.rigid import RigidContacts
     from jaxsim.rbda.contacts.soft import SoftContacts
 
@@ -366,7 +371,7 @@ def system_dynamics(
         case SoftContacts():
             ode_state_kwargs["tangential_deformation"] = aux_dict["m_dot"]
 
-        case RigidContacts() | RelaxedRigidContacts():
+        case RigidContacts():
             pass
 
         case _:

{jaxsim-0.4.3.dev64 → jaxsim-0.4.3.dev68}/src/jaxsim/api/ode_data.py

@@ -6,10 +6,6 @@ import jax_dataclasses
 import jaxsim.api as js
 import jaxsim.typing as jtp
 from jaxsim.rbda import ContactsState
-from jaxsim.rbda.contacts.relaxed_rigid import (
-    RelaxedRigidContacts,
-    RelaxedRigidContactsState,
-)
 from jaxsim.rbda.contacts.rigid import RigidContacts, RigidContactsState
 from jaxsim.rbda.contacts.soft import SoftContacts, SoftContactsState
 from jaxsim.utils import JaxsimDataclass
@@ -177,10 +173,6 @@ class ODEState(JaxsimDataclass):
                 )
             case RigidContacts():
                 contact = RigidContactsState.build()
-
-            case RelaxedRigidContacts():
-                contact = RelaxedRigidContactsState.build()
-
             case _:
                 raise ValueError("Unable to determine contact state class prefix.")
 
@@ -224,9 +216,7 @@ class ODEState(JaxsimDataclass):
 
         # Get the contact model from the `JaxSimModel`.
         match contact:
-            case (
-                SoftContactsState() | RigidContactsState() | RelaxedRigidContactsState()
-            ):
+            case SoftContactsState() | RigidContactsState():
                 pass
             case None:
                 contact = SoftContactsState.zero(model=model)

{jaxsim-0.4.3.dev64 → jaxsim-0.4.3.dev68}/src/jaxsim/integrators/common.py

@@ -497,7 +497,7 @@ class ExplicitRungeKutta(Integrator[PyTreeType, PyTreeType], Generic[PyTreeType]
         b: jtp.Matrix,
         c: jtp.Vector,
         index_of_solution: jtp.IntLike = 0,
-    ) -> tuple[bool, int | None]:
+    ) -> [bool, int | None]:
         """
         Check if the Butcher tableau supports the FSAL (first-same-as-last) property.
 

{jaxsim-0.4.3.dev64 → jaxsim-0.4.3.dev68}/src/jaxsim/math/inertia.py

@@ -45,7 +45,7 @@ class Inertia:
             M (jtp.Matrix): The 6x6 inertia matrix.
 
         Returns:
-            tuple[jtp.Float, jtp.Vector, jtp.Matrix]: A tuple containing mass, center of mass (3D), and inertia matrix (3x3).
+            Tuple[jtp.Float, jtp.Vector, jtp.Matrix]: A tuple containing mass, center of mass (3D), and inertia matrix (3x3).
 
         Raises:
             ValueError: If the input matrix M has an unexpected shape.

{jaxsim-0.4.3.dev64 → jaxsim-0.4.3.dev68}/src/jaxsim/mujoco/loaders.py

@@ -211,7 +211,7 @@ class RodModelToMjcf:
         joints_dict = {j.name: j for j in rod_model.joints()}
 
         # Convert all the joints not considered to fixed joints.
-        for joint_name in {j.name for j in rod_model.joints()} - considered_joints:
+        for joint_name in set(j.name for j in rod_model.joints()) - considered_joints:
             joints_dict[joint_name].type = "fixed"
 
         # Convert the ROD model to URDF.
@@ -289,10 +289,10 @@ class RodModelToMjcf:
         mj_model = mj.MjModel.from_xml_string(xml=urdf_string, assets=assets)
 
         # Get the joint names.
-        mj_joint_names = {
+        mj_joint_names = set(
             mj.mj_id2name(mj_model, mj.mjtObj.mjOBJ_JOINT, idx)
             for idx in range(mj_model.njnt)
-        }
+        )
 
         # Check that the Mujoco model only has the considered joints.
         if mj_joint_names != considered_joints:

{jaxsim-0.4.3.dev64 → jaxsim-0.4.3.dev68}/src/jaxsim/parsers/kinematic_graph.py

@@ -394,7 +394,7 @@ class KinematicGraph(Sequence[LinkDescription]):
             return copy.deepcopy(self)
 
         # Check if all considered joints are part of the full kinematic graph
-        if len(set(considered_joints) - {j.name for j in full_graph.joints}) != 0:
+        if len(set(considered_joints) - set(j.name for j in full_graph.joints)) != 0:
             extra_j = set(considered_joints) - {j.name for j in full_graph.joints}
             msg = f"Not all joints to consider are part of the graph ({{{extra_j}}})"
             raise ValueError(msg)
@@ -536,8 +536,8 @@ class KinematicGraph(Sequence[LinkDescription]):
             root_link_name=full_graph.root.name,
         )
 
-        assert {f.name for f in self.frames}.isdisjoint(
-            {f.name for f in unconnected_frames + reduced_frames}
+        assert set(f.name for f in self.frames).isdisjoint(
+            set(f.name for f in unconnected_frames + reduced_frames)
         )
 
         for link in unconnected_links:

{jaxsim-0.4.3.dev64 → jaxsim-0.4.3.dev68}/src/jaxsim/parsers/rod/parser.py

@@ -223,7 +223,7 @@ def extract_model_data(
             child=links_dict[j.child],
             jtype=utils.joint_to_joint_type(joint=j),
             axis=(
-                np.array(j.axis.xyz.xyz, dtype=float)
+                np.array(j.axis.xyz.xyz)
                 if j.axis is not None
                 and j.axis.xyz is not None
                 and j.axis.xyz.xyz is not None
@@ -232,43 +232,39 @@ def extract_model_data(
             pose=j.pose.transform() if j.pose is not None else np.eye(4),
             initial_position=0.0,
             position_limit=(
-                float(
-                    j.axis.limit.lower
-                    if j.axis is not None
-                    and j.axis.limit is not None
-                    and j.axis.limit.lower is not None
-                    else jnp.finfo(float).min
+                (
+                    float(j.axis.limit.lower)
+                    if j.axis is not None and j.axis.limit is not None
+                    else np.finfo(float).min
                 ),
-                float(
-                    j.axis.limit.upper
-                    if j.axis is not None
-                    and j.axis.limit is not None
-                    and j.axis.limit.upper is not None
-                    else jnp.finfo(float).max
+                (
+                    float(j.axis.limit.upper)
+                    if j.axis is not None and j.axis.limit is not None
+                    else np.finfo(float).max
                 ),
             ),
-            friction_static=float(
+            friction_static=(
                 j.axis.dynamics.friction
                 if j.axis is not None
                 and j.axis.dynamics is not None
                 and j.axis.dynamics.friction is not None
                 else 0.0
             ),
-            friction_viscous=float(
+            friction_viscous=(
                 j.axis.dynamics.damping
                 if j.axis is not None
                 and j.axis.dynamics is not None
                 and j.axis.dynamics.damping is not None
                 else 0.0
             ),
-            position_limit_damper=float(
+            position_limit_damper=(
                 j.axis.limit.dissipation
                 if j.axis is not None
                 and j.axis.limit is not None
                 and j.axis.limit.dissipation is not None
                 else 0.0
             ),
-            position_limit_spring=float(
+            position_limit_spring=(
                 j.axis.limit.stiffness
                 if j.axis is not None
                 and j.axis.limit is not None
@@ -277,7 +273,7 @@ def extract_model_data(
             ),
         )
         for j in sdf_model.joints()
-        if j.type in {"revolute", "continuous", "prismatic", "fixed"}
+        if j.type in {"revolute", "prismatic", "fixed"}
         and j.parent != "world"
         and j.child in links_dict.keys()
     ]

{jaxsim-0.4.3.dev64 → jaxsim-0.4.3.dev68}/src/jaxsim/rbda/contacts/rigid.py

@@ -9,6 +9,7 @@ import jax_dataclasses
 
 import jaxsim.api as js
 import jaxsim.typing as jtp
+from jaxsim import math
 from jaxsim.api.common import ModelDataWithVelocityRepresentation, VelRepr
 from jaxsim.terrain import FlatTerrain, Terrain
 
@@ -271,17 +272,9 @@ class RigidContacts(ContactModel):
             link_forces=link_forces,
         )
 
-        with (
-            references.switch_velocity_representation(VelRepr.Mixed),
-            data.switch_velocity_representation(VelRepr.Mixed),
-        ):
-            BW_ν̇_free = jnp.hstack(
-                js.ode.system_acceleration(
-                    model=model,
-                    data=data,
-                    joint_forces=references.joint_force_references(model=model),
-                    link_forces=references.link_forces(model=model, data=data),
-                )
+        with references.switch_velocity_representation(VelRepr.Mixed):
+            BW_ν̇_free = RigidContacts._compute_mixed_nu_dot_free(
+                model, data, references=references
             )
 
         free_contact_acc = RigidContacts._linear_acceleration_of_collidable_points(
@@ -387,6 +380,43 @@ class RigidContacts(ContactModel):
         n_constraints = 6 * n_collidable_points
         return jnp.zeros(shape=(n_constraints,))
 
+    @staticmethod
+    def _compute_mixed_nu_dot_free(
+        model: js.model.JaxSimModel,
+        data: js.data.JaxSimModelData,
+        references: js.references.JaxSimModelReferences | None = None,
+    ) -> jtp.Array:
+        references = (
+            references
+            if references is not None
+            else js.references.JaxSimModelReferences.zero(model=model, data=data)
+        )
+
+        with (
+            data.switch_velocity_representation(VelRepr.Mixed),
+            references.switch_velocity_representation(VelRepr.Mixed),
+        ):
+            BW_v_WB = data.base_velocity()
+            W_ṗ_B, W_ω_WB = jnp.split(BW_v_WB, 2)
+            W_v̇_WB, s̈ = js.ode.system_acceleration(
+                model=model,
+                data=data,
+                joint_forces=references.joint_force_references(model=model),
+                link_forces=references.link_forces(model=model, data=data),
+            )
+
+        # Convert the inertial-fixed base acceleration to a mixed base acceleration.
+        W_H_B = data.base_transform()
+        W_H_BW = W_H_B.at[0:3, 0:3].set(jnp.eye(3))
+        BW_X_W = math.Adjoint.from_transform(W_H_BW, inverse=True)
+        term1 = BW_X_W @ W_v̇_WB
+        term2 = jnp.zeros(6).at[0:3].set(jnp.cross(W_ṗ_B, W_ω_WB))
+        BW_v̇_WB = term1 - term2
+
+        BW_ν̇ = jnp.hstack([BW_v̇_WB, s̈])
+
+        return BW_ν̇
+
     @staticmethod
     def _linear_acceleration_of_collidable_points(
         model: js.model.JaxSimModel,