Merge pull request #278 from xela-95/fix/rigid-reset-velocity

Fix reset of system velocity in `model.step`
ami-iit · Oct 31, 2024 · 35cf336 · 35cf336
2 parents 78c55cc + 3600ad1
commit 35cf336
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/src/jaxsim/api/model.py b/src/jaxsim/api/model.py
@@ -2156,9 +2156,9 @@ def step(
                     )
                 )
 
-            # Reset the generalized velocity.
-            data_tf = data_tf.reset_base_velocity(BW_nu_post_impact[0:6])
-            data_tf = data_tf.reset_joint_velocities(BW_nu_post_impact[6:])
+                # Reset the generalized velocity.
+                data_tf = data_tf.reset_base_velocity(BW_nu_post_impact[0:6])
+                data_tf = data_tf.reset_joint_velocities(BW_nu_post_impact[6:])
 
     # Restore the input velocity representation.
     data_tf = data_tf.replace(