Update step function to use system_acceleration instead of `syste…

…m_velocity_dynamics`
ami-iit · Jan 30, 2025 · f7c073e · f7c073e
1 parent 1abdfe5
commit f7c073e
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/jaxsim/api/model.py b/src/jaxsim/api/model.py
@@ -2074,7 +2074,7 @@ def step(
     # ===============================
 
     with data.switch_velocity_representation(jaxsim.VelRepr.Inertial):
-        W_v̇_WB, s̈ = js.ode.system_velocity_dynamics(
+        W_v̇_WB, s̈ = js.ode.system_acceleration(
             model=model,
             data=data,
             link_forces=W_f_L_total,