From 8ab569dc88f0fda69c2accd4d39d0ddf7eb029b3 Mon Sep 17 00:00:00 2001 From: Filippo Luca Ferretti Date: Wed, 8 Nov 2023 15:06:32 +0100 Subject: [PATCH] Fix motors for floating base --- src/jaxsim/high_level/model.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/jaxsim/high_level/model.py b/src/jaxsim/high_level/model.py index a5cd28246..ec40507cc 100644 --- a/src/jaxsim/high_level/model.py +++ b/src/jaxsim/high_level/model.py @@ -1155,7 +1155,7 @@ def forward_dynamics_crb( # Configure the slice for fixed/floating base robots sl = np.s_[0:] if self.physics_model.is_floating_base else np.s_[6:] - sl_m = np.s_[6:] + sl_m = np.s_[6:] if self.physics_model.is_floating_base else np.s_[0:] # Add the motor related terms to the EoM M = M.at[sl_m, sl_m].set(M[sl_m, sl_m] + Γ.T @ IM @ Γ)