From 6a97639f71b98ded19e4169d60a2a388afe66e1e Mon Sep 17 00:00:00 2001 From: Filippo Luca Ferretti <102977828+flferretti@users.noreply.github.com> Date: Wed, 2 Oct 2024 10:56:13 +0200 Subject: [PATCH] Account for joint torques in relaxed rigid contact model --- src/jaxsim/rbda/contacts/relaxed_rigid.py | 1 + 1 file changed, 1 insertion(+) diff --git a/src/jaxsim/rbda/contacts/relaxed_rigid.py b/src/jaxsim/rbda/contacts/relaxed_rigid.py index 45ea95135..085bdc50b 100644 --- a/src/jaxsim/rbda/contacts/relaxed_rigid.py +++ b/src/jaxsim/rbda/contacts/relaxed_rigid.py @@ -273,6 +273,7 @@ def _detect_contact(x: jtp.Array, y: jtp.Array, z: jtp.Array) -> jtp.Array: model=model, data=data, link_forces=references.link_forces(model=model, data=data), + joint_forces=references.joint_force_references(model=model), ) ) BW_ν = data.generalized_velocity()