From effe29040480ff3bec7b26cad5f6b73760dacb17 Mon Sep 17 00:00:00 2001
From: Filippo Luca Ferretti <filippoluca.ferretti@outlook.com>
Date: Wed, 11 Dec 2024 14:38:29 +0100
Subject: [PATCH] Fix `js.common.named_scope` decorator usage

---
 src/jaxsim/api/com.py     | 16 ++++++++--------
 src/jaxsim/api/contact.py | 18 +++++++++---------
 src/jaxsim/api/frame.py   | 14 +++++++-------
 src/jaxsim/api/joint.py   |  8 ++++----
 src/jaxsim/api/model.py   | 38 +++++++++++++++++++-------------------
 src/jaxsim/api/ode.py     |  6 +++---
 6 files changed, 50 insertions(+), 50 deletions(-)

diff --git a/src/jaxsim/api/com.py b/src/jaxsim/api/com.py
index 11b9b2d4a..f2122ced1 100644
--- a/src/jaxsim/api/com.py
+++ b/src/jaxsim/api/com.py
@@ -8,8 +8,8 @@
 from .common import VelRepr
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def com_position(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Vector:
@@ -45,8 +45,8 @@ def B_p̃_LCoM(i) -> jtp.Vector:
     return (W_H_B @ B_p̃_CoM)[0:3].astype(float)
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def com_linear_velocity(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Vector:
@@ -76,8 +76,8 @@ def com_linear_velocity(
     return G_vl_WG
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def centroidal_momentum(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Vector:
@@ -104,8 +104,8 @@ def centroidal_momentum(
     return G_J @ ν
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def centroidal_momentum_jacobian(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Matrix:
@@ -153,8 +153,8 @@ def centroidal_momentum_jacobian(
     return G_Xf_B @ B_Jh
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def locked_centroidal_spatial_inertia(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
 ):
@@ -191,8 +191,8 @@ def locked_centroidal_spatial_inertia(
     return G_Xf_B @ B_Mbb_B @ B_Xv_G
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def average_centroidal_velocity(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Vector:
@@ -219,8 +219,8 @@ def average_centroidal_velocity(
     return G_J @ ν
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def average_centroidal_velocity_jacobian(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Matrix:
@@ -246,8 +246,8 @@ def average_centroidal_velocity_jacobian(
     return jnp.linalg.inv(G_Mbb) @ G_J
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def bias_acceleration(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Vector:
diff --git a/src/jaxsim/api/contact.py b/src/jaxsim/api/contact.py
index 31d2245d4..294413f7e 100644
--- a/src/jaxsim/api/contact.py
+++ b/src/jaxsim/api/contact.py
@@ -16,8 +16,8 @@
 from .common import VelRepr
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def collidable_point_kinematics(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
 ) -> tuple[jtp.Matrix, jtp.Matrix]:
@@ -53,8 +53,8 @@ def collidable_point_kinematics(
     return W_p_Ci, W_ṗ_Ci
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def collidable_point_positions(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Matrix:
@@ -74,8 +74,8 @@ def collidable_point_positions(
     return W_p_Ci
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def collidable_point_velocities(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Matrix:
@@ -95,8 +95,8 @@ def collidable_point_velocities(
     return W_ṗ_Ci
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def collidable_point_forces(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -133,8 +133,8 @@ def collidable_point_forces(
     return f_Ci
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def collidable_point_dynamics(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -232,8 +232,8 @@ def collidable_point_dynamics(
     return f_Ci, aux_data
 
 
-@js.common.named_scope
 @functools.partial(jax.jit, static_argnames=["link_names"])
+@js.common.named_scope
 def in_contact(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -430,8 +430,8 @@ def estimate_model_height(model: js.model.JaxSimModel) -> jtp.Float:
     return parameters
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def transforms(model: js.model.JaxSimModel, data: js.data.JaxSimModelData) -> jtp.Array:
     r"""
     Return the pose of the enabled collidable points.
@@ -476,8 +476,8 @@ def transforms(model: js.model.JaxSimModel, data: js.data.JaxSimModelData) -> jt
     return jax.vmap(lambda W_H_Li, L_H_Ci: W_H_Li @ L_H_Ci)(W_H_L, L_H_C)
 
 
-@js.common.named_scope
 @functools.partial(jax.jit, static_argnames=["output_vel_repr"])
+@js.common.named_scope
 def jacobian(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -569,8 +569,8 @@ def mixed_jacobian(W_H_C: jtp.Matrix, W_J_WC: jtp.Matrix) -> jtp.Matrix:
     return O_J_WC
 
 
-@js.common.named_scope
 @functools.partial(jax.jit, static_argnames=["output_vel_repr"])
+@js.common.named_scope
 def jacobian_derivative(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,
diff --git a/src/jaxsim/api/frame.py b/src/jaxsim/api/frame.py
index 3a1013137..39c7092fd 100644
--- a/src/jaxsim/api/frame.py
+++ b/src/jaxsim/api/frame.py
@@ -16,8 +16,8 @@
 # =======================
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def idx_of_parent_link(
     model: js.model.JaxSimModel, *, frame_index: jtp.IntLike
 ) -> jtp.Int:
@@ -46,8 +46,8 @@ def idx_of_parent_link(
     ]
 
 
-@js.common.named_scope
 @functools.partial(jax.jit, static_argnames="frame_name")
+@js.common.named_scope
 def name_to_idx(model: js.model.JaxSimModel, *, frame_name: str) -> jtp.Int:
     """
     Convert the name of a frame to its index.
@@ -99,8 +99,8 @@ def idx_to_name(model: js.model.JaxSimModel, *, frame_index: jtp.IntLike) -> str
     ]
 
 
-@js.common.named_scope
 @functools.partial(jax.jit, static_argnames=["frame_names"])
+@js.common.named_scope
 def names_to_idxs(
     model: js.model.JaxSimModel, *, frame_names: Sequence[str]
 ) -> jax.Array:
@@ -142,8 +142,8 @@ def idxs_to_names(
 # ==========
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def transform(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -184,8 +184,8 @@ def transform(
     return W_H_L @ L_H_F
 
 
-@js.common.named_scope
 @functools.partial(jax.jit, static_argnames=["output_vel_repr"])
+@js.common.named_scope
 def velocity(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -235,8 +235,8 @@ def velocity(
     return O_J_WF_I @ I_ν
 
 
-@js.common.named_scope
 @functools.partial(jax.jit, static_argnames=["output_vel_repr"])
+@js.common.named_scope
 def jacobian(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -315,8 +315,8 @@ def jacobian(
     return O_J_WL_I
 
 
-@js.common.named_scope
 @functools.partial(jax.jit, static_argnames=["output_vel_repr"])
+@js.common.named_scope
 def jacobian_derivative(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,
diff --git a/src/jaxsim/api/joint.py b/src/jaxsim/api/joint.py
index e70a393a1..8bc9127db 100644
--- a/src/jaxsim/api/joint.py
+++ b/src/jaxsim/api/joint.py
@@ -13,8 +13,8 @@
 # =======================
 
 
-@js.common.named_scope
 @functools.partial(jax.jit, static_argnames="joint_name")
+@js.common.named_scope
 def name_to_idx(model: js.model.JaxSimModel, *, joint_name: str) -> jtp.Int:
     """
     Convert the name of a joint to its index.
@@ -62,8 +62,8 @@ def idx_to_name(model: js.model.JaxSimModel, *, joint_index: jtp.IntLike) -> str
     return model.kin_dyn_parameters.joint_model.joint_names[joint_index + 1]
 
 
-@js.common.named_scope
 @functools.partial(jax.jit, static_argnames="joint_names")
+@js.common.named_scope
 def names_to_idxs(
     model: js.model.JaxSimModel, *, joint_names: Sequence[str]
 ) -> jax.Array:
@@ -143,8 +143,8 @@ def position_limit(
     return s_min.astype(float), s_max.astype(float)
 
 
-@js.common.named_scope
 @functools.partial(jax.jit, static_argnames=["joint_names"])
+@js.common.named_scope
 def position_limits(
     model: js.model.JaxSimModel, *, joint_names: Sequence[str] | None = None
 ) -> tuple[jtp.Vector, jtp.Vector]:
@@ -179,8 +179,8 @@ def position_limits(
 # ======================
 
 
-@js.common.named_scope
 @functools.partial(jax.jit, static_argnames=["joint_names"])
+@js.common.named_scope
 def random_joint_positions(
     model: js.model.JaxSimModel,
     *,
diff --git a/src/jaxsim/api/model.py b/src/jaxsim/api/model.py
index d33232af7..76ca9a024 100644
--- a/src/jaxsim/api/model.py
+++ b/src/jaxsim/api/model.py
@@ -491,8 +491,8 @@ def reduce(
 # ===================
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def total_mass(model: JaxSimModel) -> jtp.Float:
     """
     Compute the total mass of the model.
@@ -507,8 +507,8 @@ def total_mass(model: JaxSimModel) -> jtp.Float:
     return model.kin_dyn_parameters.link_parameters.mass.sum().astype(float)
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def link_spatial_inertia_matrices(model: JaxSimModel) -> jtp.Array:
     """
     Compute the spatial 6D inertia matrices of all links of the model.
@@ -530,8 +530,8 @@ def link_spatial_inertia_matrices(model: JaxSimModel) -> jtp.Array:
 # ==============================
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def forward_kinematics(model: JaxSimModel, data: js.data.JaxSimModelData) -> jtp.Array:
     """
     Compute the SE(3) transforms from the world frame to the frames of all links.
@@ -918,8 +918,8 @@ def forward_dynamics(
     )
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def forward_dynamics_aba(
     model: JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -1063,8 +1063,8 @@ def to_active(
     return C_v̇_WB.astype(float), s̈.astype(float)
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def forward_dynamics_crb(
     model: JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -1155,8 +1155,8 @@ def forward_dynamics_crb(
     return v̇_WB, s̈
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def free_floating_mass_matrix(
     model: JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Matrix:
@@ -1201,8 +1201,8 @@ def free_floating_mass_matrix(
             raise ValueError(data.velocity_representation)
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def free_floating_coriolis_matrix(
     model: JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Matrix:
@@ -1318,8 +1318,8 @@ def compute_link_contribution(M, v, J, J̇) -> jtp.Array:
             raise ValueError(data.velocity_representation)
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def inverse_dynamics(
     model: JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -1474,8 +1474,8 @@ def to_inertial(C_v̇_WB, W_H_C, C_v_WB, W_v_WC):
     return f_B.astype(float), τ.astype(float)
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def free_floating_gravity_forces(
     model: JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Vector:
@@ -1524,8 +1524,8 @@ def free_floating_gravity_forces(
     ).astype(float)
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def free_floating_bias_forces(
     model: JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Vector:
@@ -1594,8 +1594,8 @@ def free_floating_bias_forces(
 # ==========================
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def locked_spatial_inertia(
     model: JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Matrix:
@@ -1613,8 +1613,8 @@ def locked_spatial_inertia(
     return total_momentum_jacobian(model=model, data=data)[:, 0:6]
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def total_momentum(model: JaxSimModel, data: js.data.JaxSimModelData) -> jtp.Vector:
     """
     Compute the total momentum of the model.
@@ -1702,8 +1702,8 @@ def total_momentum_jacobian(
             raise ValueError(output_vel_repr)
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def average_velocity(model: JaxSimModel, data: js.data.JaxSimModelData) -> jtp.Vector:
     """
     Compute the average velocity of the model.
@@ -1791,8 +1791,8 @@ def average_velocity_jacobian(
 # ========================
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def link_bias_accelerations(
     model: JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -2001,8 +2001,8 @@ def body_to_other_representation(
     return O_v̇_WL
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def link_contact_forces(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -2077,8 +2077,8 @@ def link_contact_forces(
 # ======
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def mechanical_energy(model: JaxSimModel, data: js.data.JaxSimModelData) -> jtp.Float:
     """
     Compute the mechanical energy of the model.
@@ -2097,8 +2097,8 @@ def mechanical_energy(model: JaxSimModel, data: js.data.JaxSimModelData) -> jtp.
     return (K + U).astype(float)
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def kinetic_energy(model: JaxSimModel, data: js.data.JaxSimModelData) -> jtp.Float:
     """
     Compute the kinetic energy of the model.
@@ -2119,8 +2119,8 @@ def kinetic_energy(model: JaxSimModel, data: js.data.JaxSimModelData) -> jtp.Flo
     return K.squeeze().astype(float)
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def potential_energy(model: JaxSimModel, data: js.data.JaxSimModelData) -> jtp.Float:
     """
     Compute the potential energy of the model.
@@ -2146,8 +2146,8 @@ def potential_energy(model: JaxSimModel, data: js.data.JaxSimModelData) -> jtp.F
 # ==========
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def step(
     model: JaxSimModel,
     data: js.data.JaxSimModelData,
diff --git a/src/jaxsim/api/ode.py b/src/jaxsim/api/ode.py
index 93e558a04..a6b685cde 100644
--- a/src/jaxsim/api/ode.py
+++ b/src/jaxsim/api/ode.py
@@ -85,8 +85,8 @@ def f(x: ODEState, t: Time, **kwargs_f) -> tuple[ODEState, dict[str, Any]]:
 # ==================================
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def system_velocity_dynamics(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -332,8 +332,8 @@ def system_acceleration(
     return v̇_WB, s̈
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def system_position_dynamics(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -372,8 +372,8 @@ def system_position_dynamics(
     return W_ṗ_B, W_Q̇_B, ṡ
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def system_dynamics(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,