Fix and update array handle

src/adam/casadi/casadi_like.py

@@ -128,7 +128,7 @@ def array(*x) -> "CasadiLike":
         Returns:
             CasadiLike: Vector wrapping *x
         """
-        return CasadiLike(cs.DM(*x))
+        return CasadiLike(cs.SX(*x))
 
 
 class SpatialMath(SpatialMath):

src/adam/core/rbd_algorithms.py

@@ -197,7 +197,9 @@ def jacobian(
             return J_tot
         # let's move to mixed representation
         elif self.frame_velocity_representation == Representations.MIXED_REPRESENTATION:
-            w_H_L = base_transform @ B_H_L.array
+            if type(base_transform) != type(B_H_L):
+                base_transform = self.math.factory.array(base_transform)
+            w_H_L = base_transform @ B_H_L
             LI_X_L = self.math.adjoint_mixed(w_H_L)
             X = self.math.factory.eye(6 + self.NDoF)
             X[:6, :6] = self.math.adjoint_mixed_inverse(base_transform)
@@ -302,7 +304,9 @@ def jacobian_dot(
             return J_dot
         # let's move to mixed representation
         elif self.frame_velocity_representation == Representations.MIXED_REPRESENTATION:
-            I_H_L = base_transform @ B_H_j.array
+            if type(base_transform) != type(B_H_L):
+                base_transform = self.math.factory.array(base_transform)
+            I_H_L = base_transform @ B_H_j
             LI_X_L = self.math.adjoint_mixed(I_H_L)
             X = self.math.factory.eye(6 + self.NDoF)
             X[:6, :6] = self.math.adjoint_mixed_inverse(base_transform)

src/adam/jax/jax_like.py

@@ -126,7 +126,7 @@ def eye(x) -> "JaxLike":
         return JaxLike(jnp.eye(x))
 
     @staticmethod
-    def array(*x) -> "JaxLike":
+    def array(x) -> "JaxLike":
         """
         Returns:
             JaxLike: Vector wrapping *x

src/adam/numpy/numpy_like.py

@@ -128,7 +128,7 @@ def eye(x: int) -> "NumpyLike":
         return NumpyLike(np.eye(x))
 
     @staticmethod
-    def array(*x) -> "NumpyLike":
+    def array(x) -> "NumpyLike":
         """
         Returns:
             NumpyLike: Vector wrapping *x

src/adam/pytorch/torch_like.py

@@ -134,7 +134,7 @@ def eye(x: int) -> "TorchLike":
         return TorchLike(torch.eye(x).float())
 
     @staticmethod
-    def array(*x: ntp.ArrayLike) -> "TorchLike":
+    def array(x: ntp.ArrayLike) -> "TorchLike":
         """
         Returns:
             TorchLike: vector wrapping x