From 865e32569093f857ce928044ca2fe9a23d3b3d17 Mon Sep 17 00:00:00 2001 From: Filippo Luca Ferretti Date: Fri, 24 May 2024 13:21:48 +0200 Subject: [PATCH] Fix base acceleration transform to `VelRepr.Mixed` In Articulated Body Algorithm Co-authored-by: Alessandro Croci --- src/jaxsim/api/model.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/jaxsim/api/model.py b/src/jaxsim/api/model.py index c2894c35c..c545ae477 100644 --- a/src/jaxsim/api/model.py +++ b/src/jaxsim/api/model.py @@ -717,7 +717,7 @@ def to_active( # In Mixed representation, we need to include a cross product in ℝ⁶. # In Inertial and Body representations, the cross product is always zero. C_X_W = jaxlie.SE3.from_matrix(W_H_C).inverse().adjoint() - return C_X_W @ (W_v̇_WB - Cross.vx(W_v_WC) @ W_v_WB) + return C_X_W @ W_v̇_WB - Cross.vx(W_v_WC) @ W_v_WB def to_inertial(): # In this case C=W