Abstract contact state in api.ode_data.ODEState

flferretti · flferretti · commit c8560af6e7fe · 2024-06-14T07:48:34.000+02:00
diff --git a/tests/test_automatic_differentiation.py b/tests/test_automatic_differentiation.py
@@ -396,7 +396,7 @@ def step(
                     base_angular_velocity=W_v_WB[3:6],
                     joint_velocities=ṡ,
                 ),
-                soft_contacts_state=js.ode_data.SoftContactsState.build(
+                contacts_state=js.ode_data.SoftContactsState.build(
                     tangential_deformation=m
                 ),
             ),
