Missing link attribute reference in get_world_com()

erwincoumans / tiny-differentiable-simulator

Tiny Differentiable Simulator is a header-only C++ and CUDA physics library for reinforcement learning and robotics with zero dependencies.

Apache License 2.0

1.2k stars 129 forks source link

Missing link attribute reference in get_world_com() #103

Closed ErikGartner closed 3 years ago

ErikGartner commented 3 years ago

Hi!

In multibody.get_world_com() there is a reference to link_[link].I.com. However link.I.com does not exist. Should this perhaps be link.rbi.com?

https://github.com/google-research/tiny-differentiable-simulator/blob/7dfba7c8075622355a557a0c8982d09a7681b8d3/src/multi_body.hpp#L447-L454

Thanks! Erik