Fix cast of gc.body in api.ode

ami-iit · Mar 11, 2024 · 3dd9039 · 3dd9039
1 parent 048f592
commit 3dd9039
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/jaxsim/api/ode.py b/src/jaxsim/api/ode.py
@@ -142,7 +142,7 @@ def system_velocity_dynamics(
             lambda nc: (
                 jnp.vstack(
                     jnp.equal(
-                        np.array(model.physics_model.gc.body, dtype=int), nc
+                        jnp.array(model.physics_model.gc.body, dtype=int), nc
                     ).astype(int)
                 )
                 * W_f_Ci