Merge pull request #246 from ami-iit/fix/contacts_state_zero

ami-iit · Sep 27, 2024 · 9e29f06 · 9e29f06
2 parents a4d1476 + a7531ae
commit 9e29f06
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/src/jaxsim/rbda/contacts/relaxed_rigid.py b/src/jaxsim/rbda/contacts/relaxed_rigid.py
@@ -169,12 +169,12 @@ def build(cls: type[Self]) -> Self:
         return cls()
 
     @classmethod
-    def zero(cls: type[Self]) -> Self:
+    def zero(cls: type[Self], **kwargs) -> Self:
         """Build a zero `RelaxedRigidContactsState` instance from a `JaxSimModel`."""
 
         return cls.build()
 
-    def valid(self, *, model: js.model.JaxSimModel) -> jtp.BoolLike:
+    def valid(self, **kwargs) -> jtp.BoolLike:
         return True
 
 

diff --git a/src/jaxsim/rbda/contacts/rigid.py b/src/jaxsim/rbda/contacts/rigid.py
@@ -92,12 +92,12 @@ def build(cls: type[Self]) -> Self:
         return cls()
 
     @classmethod
-    def zero(cls: type[Self]) -> Self:
+    def zero(cls: type[Self], **kwargs) -> Self:
         """Build a zero `RigidContactsState` instance from a `JaxSimModel`."""
 
         return cls.build()
 
-    def valid(self) -> jtp.BoolLike:
+    def valid(self, **kwargs) -> jtp.BoolLike:
         return True