Fixup

Co-authored-by: Filippo Luca Ferretti <[email protected]>
ami-iit · Mar 11, 2024 · 953e5f5 · 953e5f5
1 parent 6c763b7
commit 953e5f5
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diff --git a/src/jaxsim/physics/algos/soft_contacts.py b/src/jaxsim/physics/algos/soft_contacts.py
@@ -236,7 +236,6 @@ def process_point_kinematics(
         return W_p_Ci, CW_vl_WCi
 
     # Process all the collidable points in parallel
-    print(model.gc.body)
     W_p_Ci, CW_v_WC = jax.vmap(process_point_kinematics)(
         model.gc.point.T, np.array(model.gc.body, dtype=int)
     )

diff --git a/src/jaxsim/physics/model/ground_contact.py b/src/jaxsim/physics/model/ground_contact.py
@@ -43,8 +43,6 @@ def build_from(
         link_index_of_points = [
             links_dict[cp.parent_link.name].index for cp in collidable_points
         ]
-        print(link_index_of_points)
-        print(type(link_index_of_points))
 
         # Build the object
         gc = GroundContact(point=points, body=link_index_of_points)