From 3dd903964f1098087e8fffd6560668ec881b7378 Mon Sep 17 00:00:00 2001 From: diegoferigo Date: Mon, 11 Mar 2024 15:36:27 +0100 Subject: [PATCH] Fix cast of gc.body in api.ode --- src/jaxsim/api/ode.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/jaxsim/api/ode.py b/src/jaxsim/api/ode.py index d3cada9c9..8432a6806 100644 --- 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