From 753bb78c430b8bfcc50fa6a0aca94b82302180fd Mon Sep 17 00:00:00 2001 From: Filippo Luca Ferretti Date: Wed, 8 Jan 2025 12:22:22 +0100 Subject: [PATCH] Update the docstrings to match the function signature Co-authored-by: Alessandro Croci --- src/jaxsim/rbda/contacts/rigid.py | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/src/jaxsim/rbda/contacts/rigid.py b/src/jaxsim/rbda/contacts/rigid.py index 92de50818..d04a7b895 100644 --- a/src/jaxsim/rbda/contacts/rigid.py +++ b/src/jaxsim/rbda/contacts/rigid.py @@ -182,7 +182,11 @@ def compute_impact_velocity( inactive_collidable_points: The activation state of the collidable points. M: The mass matrix of the system (in mixed representation). J_WC: The Jacobian matrix of the collidable points (in mixed representation). - data: The `JaxSimModelData` instance. + generalized_velocity: The generalized velocity of the system. + + Note: + The mass matrix `M`, the Jacobian `J_WC`, and the generalized velocity `generalized_velocity` + must be expressed in the same velocity representation. """ # Compute system velocity after impact maintaining zero linear velocity of active points.