Fix bug in energy_fn

tud-phi · Nov 19, 2024 · 49882f3 · 49882f3
1 parent 92ee9a0
commit 49882f3
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/jsrm/systems/planar_pcs.py b/src/jsrm/systems/planar_pcs.py
@@ -409,7 +409,7 @@ def energy_fn(params: Dict[str, Array], q: Array, q_d: Array) -> Array:
         Returns:
             E: total energy of shape ()
         """
-        T = kinetic_energy_fn(params, q_d)
+        T = kinetic_energy_fn(params, q, q_d)
         U = potential_energy_fn(params, q)
         E = T + U