typos

pyomeca · Sep 19, 2024 · f2634a3 · f2634a3
1 parent 5b25e4d
commit f2634a3
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/bioptim/dynamics/dynamics_functions.py b/bioptim/dynamics/dynamics_functions.py
@@ -1235,13 +1235,13 @@ def compute_tau_from_muscle(
         The generalized forces computed from the muscles
         """
 
-        activations = []
+        activations = type(q)()
         for k in range(len(nlp.controls["muscles"])):
             if fatigue_states is not None:
-                activations.append(muscle_activations[k] * (1 - fatigue_states[k]))
+                activations = vertcat(activations, muscle_activations[k] * (1 - fatigue_states[k]))
             else:
-                activations.append(muscle_activations[k])
-        return nlp.model.muscle_joint_torque()(q, qdot, activations)
+                activations = vertcat(activations, muscle_activations[k])
+        return nlp.model.muscle_joint_torque()(activations, q, qdot)
 
     @staticmethod
     def holonomic_torque_driven(

diff --git a/bioptim/models/biorbd/biorbd_model.py b/bioptim/models/biorbd/biorbd_model.py
@@ -536,15 +536,15 @@ def muscle_velocity(self) -> Function:
 
     def muscle_joint_torque(self) -> Function:
         muscles_states = self.model.stateSet()
-        muscles_activations = self.muscles
+        muscles_activations = self.muscle
         for k in range(self.model.nbMuscles()):
             muscles_states[k].setActivation(muscles_activations[k])
         q_biorbd = GeneralizedCoordinates(self.q)
         qdot_biorbd = GeneralizedVelocity(self.qdot)
         biorbd_return = self.model.muscularJointTorque(muscles_states, q_biorbd, qdot_biorbd).to_mx()
         casadi_fun = Function(
             "muscle_joint_torque",
-            [self.q, self.qdot, self.muscle],
+            [self.muscle, self.q, self.qdot],
             [biorbd_return],
         )
         return casadi_fun