From a262dda7a798276cd16729794e714751474e5d0b Mon Sep 17 00:00:00 2001 From: Filippo Luca Ferretti Date: Thu, 23 May 2024 15:11:27 +0200 Subject: [PATCH] Make `output_vel_repr` non-static in `api.link` --- src/jaxsim/api/link.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/jaxsim/api/link.py b/src/jaxsim/api/link.py index 1d164010b..bc4351653 100644 --- a/src/jaxsim/api/link.py +++ b/src/jaxsim/api/link.py @@ -203,7 +203,7 @@ def com_in_inertial_frame(): ) -@functools.partial(jax.jit, static_argnames=["output_vel_repr"]) +@jax.jit def jacobian( model: js.model.JaxSimModel, data: js.data.JaxSimModelData, @@ -295,7 +295,7 @@ def jacobian( return O_J_WL_I -@functools.partial(jax.jit, static_argnames=["output_vel_repr"]) +@jax.jit def velocity( model: js.model.JaxSimModel, data: js.data.JaxSimModelData,