generalized forces

RussTedrake · Aug 30, 2023 · 86c1d0e · 86c1d0e
1 parent a37b43e
commit 86c1d0e
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/htmlbook b/htmlbook
diff --git a/underactuated/multibody.py b/underactuated/multibody.py
@@ -14,6 +14,6 @@ def ManipulatorDynamics(plant, q, v=None, context=None):
     forces = MultibodyForces_(plant)
     plant.CalcForceElementsContribution(context, forces)
     # TODO(russt): add in contact forces to tauExt.
-    tauExt = forces.generalized_forces()
+    tauExt = plant.CalcGeneralizedForces(context, forces)
 
     return (M, Cv, tauG, B, tauExt)