From 408c9e1056547186bed851b1dda83cf37d07ae01 Mon Sep 17 00:00:00 2001 From: Filippo Luca Ferretti Date: Wed, 8 Nov 2023 12:49:25 +0100 Subject: [PATCH] Fix ABA for viscous friction --- src/jaxsim/physics/algos/aba.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/jaxsim/physics/algos/aba.py b/src/jaxsim/physics/algos/aba.py index fed0cad51..1e3a95fc4 100644 --- a/src/jaxsim/physics/algos/aba.py +++ b/src/jaxsim/physics/algos/aba.py @@ -40,7 +40,7 @@ def aba( IM = jnp.array( [jnp.eye(6) * m for m in [*model._joint_motor_inertia.values()]] * model.NB ) - K̅ᵥ = Γ.T * jnp.array([*model._joint_motor_viscous_friction.values()]) / Γ + K̅ᵥ = Γ.T @ jnp.array([*model._joint_motor_viscous_friction.values()]) @ Γ m_S = jnp.concatenate([S[:1], S[1:] * Γ[:, None, None]], axis=0) # Initialize buffers