chore: bump version

darli/modeling/parametric/functional.py

@@ -305,3 +305,13 @@ def centroidal_dynamics(
         dv: ArrayLike | None = None,
     ):
         raise NotImplementedError
+
+    def update(
+        self,
+        q: ArrayLike,
+        v: ArrayLike,
+        dv: ArrayLike | None = None,
+        u: ArrayLike | None = None,
+    ) -> ArrayLike:
+        # dummy implementation to satisfy base class
+        return

darli/modeling/parametric/parametric.py

@@ -295,11 +295,11 @@ def forward_dynamics(
         self,
         q: ArrayLike | None = None,
         v: ArrayLike | None = None,
-        tau: ArrayLike | None = None,
+        u: ArrayLike | None = None,
     ) -> ArrayLike:
         return self._backend.math.solve(
             self.inertia(q),
-            -self.bias_force(q, v) + (tau if tau is not None else self.qfrc_u),
+            -self.bias_force(q, v) + (self._qfrc_u if u is None else self.selector @ u),
         ).array
 
     @property

pyproject.toml

@@ -1,9 +1,9 @@
 [project]
 name = "darli"
 description = "The DARLi is a Python 3 library that supports both numerical and symbolical computations of open loop articulated robots provided urdf file."
-version = "0.2.9"
+version = "0.3.0"
 authors = [{ name = "Lev Kozlov" }, { name = "Simeon Nedelchev" }]
-dependencies = ["cmeel_casadi_kin_dyn==1.6.10"]
+dependencies = ["cmeel_casadi_kin_dyn>=1.6.11"]
 readme = "README.md"
 requires-python = ">=3.9"