Merge pull request #66 from ami-iit/fix/dxdt_kwargs

Fix arguments order in `ode.dx_dt`
ami-iit · Jan 18, 2024 · eb3303c · eb3303c
2 parents 563e054 + 72e5ed3
commit eb3303c
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/jaxsim/simulation/ode.py b/src/jaxsim/simulation/ode.py
@@ -74,9 +74,9 @@ def compute_contact_forces(
 
 def dx_dt(
     x: ode_data.ODEState,
+    t: jtp.Float | None,
     physics_model: PhysicsModel,
     soft_contacts_params: SoftContactsParams = SoftContactsParams(),
-    t: jtp.Float | None = None,
     ode_input: ode_data.ODEInput | None = None,
     terrain: Terrain = FlatTerrain(),
 ) -> Tuple[ode_data.ODEState, Dict[str, Any]]: