Replace DeprecationWarning with warnings.warn for root_link argument …

…in KinDynComputations classes

src/adam/casadi/computations.py

@@ -1,5 +1,7 @@
 # Copyright (C) Istituto Italiano di Tecnologia (IIT). All rights reserved.
 
+import warnings
+
 import casadi as cs
 import numpy as np
 
@@ -34,9 +36,7 @@ def __init__(
         self.g = gravity
         self.f_opts = f_opts
         if root_link is not None:
-            raise DeprecationWarning(
-                "The root_link argument is not used. The root link is automatically chosen as the link with no parent in the URDF"
-            )
+            warnings.warn("The root_link argument is not used. The root link is automatically chosen as the link with no parent in the URDF", DeprecationWarning, stacklevel=2)
 
     def set_frame_velocity_representation(
         self, representation: Representations

src/adam/jax/computations.py

@@ -1,5 +1,7 @@
 # Copyright (C) Istituto Italiano di Tecnologia (IIT). All rights reserved.
 
+import warnings
+
 import jax.numpy as jnp
 import numpy as np
 
@@ -32,9 +34,7 @@ def __init__(
         self.NDoF = self.rbdalgos.NDoF
         self.g = gravity
         if root_link is not None:
-            raise DeprecationWarning(
-                "The root_link argument is not used. The root link is automatically chosen as the link with no parent in the URDF"
-            )
+            warnings.warn("The root_link argument is not used. The root link is automatically chosen as the link with no parent in the URDF", DeprecationWarning, stacklevel=2)
 
     def set_frame_velocity_representation(
         self, representation: Representations

src/adam/numpy/computations.py

@@ -1,5 +1,6 @@
 # Copyright (C) Istituto Italiano di Tecnologia (IIT). All rights reserved.
 
+import warnings
 
 import numpy as np
 
@@ -32,9 +33,7 @@ def __init__(
         self.NDoF = model.NDoF
         self.g = gravity
         if root_link is not None:
-            raise DeprecationWarning(
-                "The root_link argument is not used. The root link is automatically chosen as the link with no parent in the URDF"
-            )
+            warnings.warn("The root_link argument is not used. The root link is automatically chosen as the link with no parent in the URDF", DeprecationWarning, stacklevel=2)
 
     def set_frame_velocity_representation(
         self, representation: Representations

src/adam/parametric/casadi/computations_parametric.py

@@ -1,5 +1,7 @@
 # Copyright (C) Istituto Italiano di Tecnologia (IIT). All rights reserved.
 
+import warnings
+
 import casadi as cs
 import numpy as np
 
@@ -49,9 +51,7 @@ def __init__(
         self.g = gravity
         self.f_opts = f_opts
         if root_link is not None:
-            raise DeprecationWarning(
-                "The root_link argument is not used. The root link is automatically chosen as the link with no parent in the URDF"
-            )
+            warnings.warn("The root_link argument is not used. The root link is automatically chosen as the link with no parent in the URDF", DeprecationWarning, stacklevel=2)
 
     def set_frame_velocity_representation(
         self, representation: Representations

src/adam/parametric/jax/computations_parametric.py

@@ -1,5 +1,7 @@
 # Copyright (C) Istituto Italiano di Tecnologia (IIT). All rights reserved.
 
+import warnings
+
 import jax.numpy as jnp
 import numpy as np
 from jax import grad, jit, vmap
@@ -38,9 +40,7 @@ def __init__(
         self.joints_name_list = joints_name_list
         self.representation = Representations.MIXED_REPRESENTATION  # Default
         if root_link is not None:
-            raise DeprecationWarning(
-                "The root_link argument is not used. The root link is automatically chosen as the link with no parent in the URDF"
-            )
+            warnings.warn("The root_link argument is not used. The root link is automatically chosen as the link with no parent in the URDF", DeprecationWarning, stacklevel=2)
 
     def set_frame_velocity_representation(
         self, representation: Representations

src/adam/parametric/numpy/computations_parametric.py

@@ -1,5 +1,7 @@
 # Copyright (C) Istituto Italiano di Tecnologia (IIT). All rights reserved.
 
+import warnings
+
 import numpy as np
 
 from adam.core.constants import Representations
@@ -36,9 +38,7 @@ def __init__(
         self.joints_name_list = joints_name_list
         self.representation = Representations.MIXED_REPRESENTATION  # Default
         if root_link is not None:
-            raise DeprecationWarning(
-                "The root_link argument is not used. The root link is automatically chosen as the link with no parent in the URDF"
-            )
+            warnings.warn("The root_link argument is not used. The root link is automatically chosen as the link with no parent in the URDF", DeprecationWarning, stacklevel=2)
 
     def set_frame_velocity_representation(
         self, representation: Representations

src/adam/parametric/pytorch/computations_parametric.py

@@ -1,5 +1,7 @@
 # Copyright (C) Istituto Italiano di Tecnologia (IIT). All rights reserved.
 
+import warnings
+
 import numpy as np
 import torch
 
@@ -39,9 +41,7 @@ def __init__(
         self.urdfstring = urdfstring
         self.representation = Representations.MIXED_REPRESENTATION  # Default
         if root_link is not None:
-            raise DeprecationWarning(
-                "The root_link argument is not used. The root link is automatically chosen as the link with no parent in the URDF"
-            )
+            warnings.warn("The root_link argument is not used. The root link is automatically chosen as the link with no parent in the URDF", DeprecationWarning, stacklevel=2)
 
     def set_frame_velocity_representation(
         self, representation: Representations

src/adam/pytorch/computation_batch.py

@@ -2,6 +2,8 @@
 # This software may be modified and distributed under the terms of the
 # GNU Lesser General Public License v2.1 or any later version.
 
+import warnings
+
 import jax
 import jax.numpy as jnp
 import numpy as np
@@ -40,10 +42,8 @@ def __init__(
         self.g = gravity
         self.funcs = {}
         if root_link is not None:
-            raise DeprecationWarning(
-                "The root_link argument is not used. The root link is automatically chosen as the link with no parent in the URDF"
-            )
-
+            warnings.warn("The root_link argument is not used. The root link is automatically chosen as the link with no parent in the URDF", DeprecationWarning, stacklevel=2)
+
 
     def set_frame_velocity_representation(
         self, representation: Representations

src/adam/pytorch/computations.py

@@ -1,6 +1,8 @@
 # Copyright (C) Istituto Italiano di Tecnologia (IIT). All rights reserved.
 
 
+import warnings
+
 import numpy as np
 import torch
 
@@ -35,9 +37,7 @@ def __init__(
         self.NDoF = self.rbdalgos.NDoF
         self.g = gravity
         if root_link is not None:
-            raise DeprecationWarning(
-                "The root_link argument is not used. The root link is automatically chosen as the link with no parent in the URDF"
-            )
+            warnings.warn("The root_link argument is not used. The root link is automatically chosen as the link with no parent in the URDF", DeprecationWarning, stacklevel=2)
 
     def set_frame_velocity_representation(
         self, representation: Representations