Address review

Co-authored-by: Alessandro Croci <[email protected]> Co-authored-by: Filippo Luca Ferretti <[email protected]>
ami-iit · Jun 3, 2024 · bcd35dc · bcd35dc
1 parent acd8a46
commit bcd35dc
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/src/jaxsim/api/contact.py b/src/jaxsim/api/contact.py
@@ -369,8 +369,8 @@ def jacobian(W_H_C: jtp.Matrix, W_J_WC: jtp.Matrix) -> jtp.Matrix:
                 C_X_W = jaxsim.math.Adjoint.from_transform(
                     transform=W_H_C, inverse=True
                 )
-                C_J_WCi = C_X_W @ W_J_WC
-                return C_J_WCi
+                C_J_WC = C_X_W @ W_J_WC
+                return C_J_WC
 
             O_J_WC = jax.vmap(jacobian)(W_H_C, W_J_WC)
 

diff --git a/tests/test_contact.py b/tests/test_contact.py
@@ -29,9 +29,9 @@ def test_collidable_point_jacobians(
 
     # Compute the generalized velocity and the free-floating Jacobian of the frame C.
     ν = data.generalized_velocity()
-    CL_J_WC = js.contact.jacobian(model=model, data=data, output_vel_repr=VelRepr.Mixed)
+    CW_J_WC = js.contact.jacobian(model=model, data=data, output_vel_repr=VelRepr.Mixed)
 
     # Compute the velocity of the collidable points using the Jacobians.
-    v_WC_from_jax = jax.vmap(lambda J, ν: J @ ν, in_axes=(0, None))(CL_J_WC, ν)
+    v_WC_from_jax = jax.vmap(lambda J, ν: J @ ν, in_axes=(0, None))(CW_J_WC, ν)
 
     assert W_ṗ_C == pytest.approx(v_WC_from_jax[:, 0:3])