Update src/jaxsim/api/contact.py

Co-authored-by: Diego Ferigo <[email protected]>
ami-iit · Mar 1, 2024 · e54c4ac · e54c4ac
1 parent ca80ad6
commit e54c4ac
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/jaxsim/api/contact.py b/src/jaxsim/api/contact.py
@@ -171,7 +171,7 @@ def estimate_model_height(model: Model.JaxSimModel) -> jtp.Float:
 
         if model.physics_model.is_floating_base:
             W_pz_C = collidable_point_positions(model=model, data=zero_data)[:, -1]
-            return 2 * (W_p_CoM - W_pz_C.min())
+            return 2 * (W_pz_CoM - W_pz_C.min())
 
         return 2 * W_p_CoM