Fix call to link_contact_forces in step

ami-iit · Jan 24, 2025 · 563f33a · 563f33a
1 parent 0f5f298
commit 563f33a
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/jaxsim/api/model.py b/src/jaxsim/api/model.py
@@ -2049,7 +2049,7 @@ def step(
             model=model,
             data=data,
             link_forces=W_f_L_external,
-            joint_force_references=τ_total,
+            joint_torques=τ_total,
         )
 
     # ==============================