Avoid unnecessary jax.vmap in rbda.forward_kinematics

ami-iit · Nov 19, 2024 · 831f58a · 831f58a
1 parent 61da5ef
commit 831f58a
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/jaxsim/rbda/forward_kinematics.py b/src/jaxsim/rbda/forward_kinematics.py
@@ -85,7 +85,7 @@ def propagate_kinematics(
         else [(W_X_i,), None]
     )
 
-    return jax.vmap(Adjoint.to_transform)(W_X_i)
+    return Adjoint.to_transform(W_X_i)
 
 
 def forward_kinematics(