Uniform usage of joint_forces and joint_force_references argument names

[diegoferigo]

In short:

• joint_forces are the real joint forces that are set to the joint.
• joint_force_references are the desired joint forces, that might differ from the real joint forces in presence of effects like joint friction.

This PR updates the APIs making sure to use the right argument name so that it should be more clear to callers whether they might expect to lose a fraction of the passed joint force due to physical effects.

@flferretti @xela-95 please let me know if I missed something.

[xela-95]

@flferretti @xela-95 please let me know if I missed something.

Thanks @diegoferigo ! This will for sure help to clarify the usage of this argument.

Just to be sure, have you also checked the use of joint_force_references in jaxsim.api.contact (like in

jaxsim/src/jaxsim/api/contact.py

Lines 128 to 133 in 7a2d193

	def collidable_point_dynamics(
	model: js.model.JaxSimModel,
	data: js.data.JaxSimModelData,
	link_forces: jtp.MatrixLike | None = None,
	joint_force_references: jtp.VectorLike | None = None,
	) -> tuple[jtp.Matrix, dict[str, jtp.Array]]:

and

jaxsim/src/jaxsim/api/contact.py

Lines 94 to 99 in 7a2d193

	def collidable_point_forces(
	model: js.model.JaxSimModel,
	data: js.data.JaxSimModelData,
	link_forces: jtp.MatrixLike | None = None,
	joint_force_references: jtp.VectorLike | None = None,
	) -> jtp.Matrix:

) and in the compute_contact_forces methods of the different contact models (like rigid and relaxed_rigid) that use such input arguments?

[diegoferigo]

Just to be sure, have you also checked the use of joint_force_references in jaxsim.api.contact

I already checked them, let me know if you find mistakes :) I have a lot of changes pending, I might have missed something.

[diegoferigo]

I just noticed that I missed to commit two calls in the Rigid and RelaxedRigid contact models. I force-pushed the changes.

[flferretti]

Thanks Diego, LGTM!