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Fix loading of jointless model
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traversaro committed Mar 9, 2024
1 parent f3d9abb commit 6808753
Showing 1 changed file with 2 additions and 2 deletions.
4 changes: 2 additions & 2 deletions src/jaxsim/physics/model/physics_model.py
Original file line number Diff line number Diff line change
Expand Up @@ -100,8 +100,8 @@ def __post_init__(self):
[self._link_inertias_dict[l.index] for l in ordered_links]
)

s_min = jnp.hstack([j.position_limit[0] for j in ordered_joints])
s_max = jnp.hstack([j.position_limit[1] for j in ordered_joints])
s_min = jnp.array([j.position_limit[0] for j in ordered_joints])
s_max = jnp.array([j.position_limit[1] for j in ordered_joints])
self._joint_position_limits_min = jnp.vstack([s_min, s_max]).min(axis=0)
self._joint_position_limits_max = jnp.vstack([s_min, s_max]).max(axis=0)

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