Rename aux_dict to extended_contact_state

ami-iit · Jan 30, 2025 · ccb1c2e · ccb1c2e
1 parent d4ae223
commit ccb1c2e
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/src/jaxsim/api/contact_model.py b/src/jaxsim/api/contact_model.py
@@ -34,7 +34,7 @@ def link_contact_forces(
     """
 
     # Compute the contact forces for each collidable point with the active contact model.
-    W_f_C, aux_dict = model.contact_model.compute_contact_forces(
+    W_f_C, extended_contact_state = model.contact_model.compute_contact_forces(
         model=model,
         data=data,
         **(
@@ -50,7 +50,7 @@ def link_contact_forces(
         model=model, data=data, contact_forces=W_f_C
     )
 
-    return W_f_L, aux_dict
+    return W_f_L, extended_contact_state
 
 
 @staticmethod

diff --git a/src/jaxsim/api/model.py b/src/jaxsim/api/model.py
@@ -2050,7 +2050,7 @@ def step(
 
         # Compute the 6D forces W_f ∈ ℝ^{n_L × 6} applied to links due to contact
         # with the terrain.
-        W_f_L_terrain, aux_dict = js.contact_model.link_contact_forces(
+        W_f_L_terrain, extended_contact_state = js.contact_model.link_contact_forces(
             model=model,
             data=data,
             link_forces=W_f_L_external,
@@ -2072,7 +2072,7 @@ def step(
     match model.contact_model:
 
         case jaxsim.rbda.contacts.SoftContacts():
-            contact_state["tangential_deformation"] = aux_dict["m_dot"]
+            contact_state["tangential_deformation"] = extended_contact_state["m_dot"]
 
         case (
             jaxsim.rbda.contacts.RigidContacts()