Fix arguments order in ode.dx_dt
#66
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diegoferigo
approved these changes
Jan 18, 2024
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Yep changing the order of parameters generally breaks APIs. While JaxSim uses as much as possible kwargs when calling functions / methods, it is not 100% resilient to these breaking changes.
As soon as we are happy with the high-level APIs, we should start thinking of a proper test suite to catch these errors earlier.
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This PR fixes an issue caused by #64, for which the disposition of the variable
twas changed. As a consequence, whendx_dtis called inside the closures ofode_integrationthe argumentphysics_modelwas interpreted ast.