Fix api.contact.in_contact
#119
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diegoferigo
requested changes
Mar 26, 2024
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Thanks for having a look @flferretti. It is indeed wrongly returning always an array with links_in_contact corresponding to the passed link_names. Right now, you are selecting the first elements of links_in_contact, that would not correspond to link_names. Did I get it right?
And, would it be a problem to rebase this PR on top of #108 as soon as #117 will get merged? The functional APIs of main will be updated soon, I'd prefer to directly fix the final ones.
The length of `links_in_contact` was always equal to number of links in the model
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diegoferigo
requested changes
Mar 26, 2024
Co-authored-by: Diego Ferigo <[email protected]>
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The returned length of
links_in_contactwas always equal to the total number of links in the model, instead of being equal to the length of the inputlink_names📚 Documentation preview 📚: https://jaxsim--119.org.readthedocs.build//119/