Simplify position limit extraction logic

ami-iit · Nov 13, 2024 · 40d60e3 · 40d60e3
1 parent 885c3e6
commit 40d60e3
Showing 1 changed file with 7 additions and 6 deletions.
diff --git a/src/jaxsim/api/joint.py b/src/jaxsim/api/joint.py
@@ -125,10 +125,7 @@ def position_limit(
     """
 
     if model.number_of_joints() == 0:
-        s_min = model.kin_dyn_parameters.joint_parameters.position_limits_min
-        s_max = model.kin_dyn_parameters.joint_parameters.position_limits_max
-
-        return jnp.atleast_1d(s_min).astype(float), jnp.atleast_1d(s_max).astype(float)
+        return jnp.empty(0).astype(float), jnp.empty(0).astype(float)
 
     exceptions.raise_value_error_if(
         condition=jnp.array(
@@ -138,8 +135,12 @@ def position_limit(
         idx=joint_index,
     )
 
-    s_min = model.kin_dyn_parameters.joint_parameters.position_limits_min[joint_index]
-    s_max = model.kin_dyn_parameters.joint_parameters.position_limits_max[joint_index]
+    s_min = jnp.atleast_1d(
+        model.kin_dyn_parameters.joint_parameters.position_limits_min
+    )[joint_index]
+    s_max = jnp.atleast_1d(
+        model.kin_dyn_parameters.joint_parameters.position_limits_max
+    )[joint_index]
 
     return s_min.astype(float), s_max.astype(float)