Minor fixes

2024-04-22 13:15:51 +02:00
parent 9c087a0dd2
commit e070deab90
1 changed files with 3 additions and 1 deletions
--- a/src/curobo/types/state.py
+++ b/src/curobo/types/state.py
@@ -81,7 +81,7 @@ class JointState(State):
    @staticmethod
    def from_numpy(
        joint_names: List[str],
-        position: np.ndarry,
+        position: np.ndarray,
        velocity: Optional[np.ndarray] = None,
        acceleration: Optional[np.ndarray] = None,
        jerk: Optional[np.ndarray] = None,
@@ -91,6 +91,8 @@ class JointState(State):
        vel = acc = je = None
        if velocity is not None:
            vel = tensor_args.to_device(velocity)
+        else:
+            vel = pos * 0.0
        if acceleration is not None:
            acc = tensor_args.to_device(acceleration)
        else: