Save time_step and reduced joint positions as float

ami-iit · Jan 24, 2025 · 7aff901 · 7aff901
1 parent 478660b
commit 7aff901
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/src/jaxsim/api/model.py b/src/jaxsim/api/model.py
@@ -33,8 +33,8 @@ class JaxSimModel(JaxsimDataclass):
 
     model_name: Static[str]
 
-    time_step: jtp.FloatLike = dataclasses.field(
-        default_factory=lambda: jnp.array(0.001, dtype=float),
+    time_step: float = dataclasses.field(
+        default=0.001,
     )
 
     terrain: Static[jaxsim.terrain.Terrain] = dataclasses.field(
@@ -222,7 +222,7 @@ def build(
         time_step = (
             time_step
             if time_step is not None
-            else JaxSimModel.__dataclass_fields__["time_step"].default_factory()
+            else JaxSimModel.__dataclass_fields__["time_step"].default
         )
 
         # Create the default contact model.

diff --git a/tests/test_api_model.py b/tests/test_api_model.py
@@ -81,7 +81,7 @@ def test_model_creation_and_reduction(
         locked_joint_positions=dict(
             zip(
                 model_full.joint_names(),
-                data_full.joint_positions,
+                data_full.joint_positions.tolist(),
                 strict=True,
             )
         ),