From 49882f3c7a9fb1d0eb8ab90991258fcf2a550758 Mon Sep 17 00:00:00 2001 From: Maximilian Stolzle Date: Tue, 19 Nov 2024 17:49:06 -0500 Subject: [PATCH] Fix bug in `energy_fn` --- src/jsrm/systems/planar_pcs.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/jsrm/systems/planar_pcs.py b/src/jsrm/systems/planar_pcs.py index 5dbeab9..0c45c81 100644 --- 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