From 8fa2707f7710ee55fdd592a2b3bd0983a9b19536 Mon Sep 17 00:00:00 2001 From: Filippo Luca Ferretti Date: Thu, 20 Jun 2024 13:42:53 +0200 Subject: [PATCH] Apply suggestions from code review Co-authored-by: Diego Ferigo --- src/jaxsim/api/ode.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/jaxsim/api/ode.py b/src/jaxsim/api/ode.py index 70a4d0141..7087eb82b 100644 --- a/src/jaxsim/api/ode.py +++ b/src/jaxsim/api/ode.py @@ -150,7 +150,7 @@ def system_velocity_dynamics( # Sum the forces of all collidable points rigidly attached to a body. # Since the contact forces W_f_Ci are expressed in the world frame, # we don't need any coordinate transformation. - mask = parent_link_index_of_collidable_points[:, None] == jnp.arange( + mask = parent_link_index_of_collidable_points[:, jnp.newaxis] == jnp.arange( model.number_of_links() )