From 436fde6c3444d9088c09abae5e22876d5eba78b6 Mon Sep 17 00:00:00 2001 From: Carlotta Date: Wed, 27 Nov 2024 11:06:34 +0100 Subject: [PATCH] fix tests on frame and check on frame idx --- src/jaxsim/api/frame.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/jaxsim/api/frame.py b/src/jaxsim/api/frame.py index 10ec5506b..d94f0d0f3 100644 --- a/src/jaxsim/api/frame.py +++ b/src/jaxsim/api/frame.py @@ -201,11 +201,11 @@ def velocity( Returns: The 6D velocity of the frame in the specified velocity representation. """ + n_l = model.number_of_links() + n_f = model.number_of_frames() exceptions.raise_value_error_if( - condition=jnp.array( - [frame_index < 0, frame_index >= model.number_of_frames()] - ).any(), + condition=jnp.array([frame_index < n_l, frame_index >= n_l + n_f]).any(), msg="Invalid frame index '{idx}'", idx=frame_index, ) @@ -257,7 +257,7 @@ def jacobian( """ n_l = model.number_of_links() - n_f = len(model.frame_names()) + n_f = model.number_of_frames() exceptions.raise_value_error_if( condition=jnp.array([frame_index < n_l, frame_index >= n_l + n_f]).any(),