[sq] rbda

src/jaxsim/rbda/jacobian.py

@@ -301,7 +301,7 @@ def compute_full_jacobian_derivative(
         jax.lax.scan(
             f=compute_full_jacobian_derivative,
             init=compute_full_jacobian_derivative_carry,
-            xs=model.kin_dyn_parameters.link_indices[1:],
+            xs=np.arange(start=1, stop=model.number_of_links()),
         )
         if model.number_of_links() > 1
         else [(_, B_X_i, B_Ẋ_i, J̇), None]