address comments

ami-iit · Feb 18, 2025 · 18d1787 · 18d1787
1 parent b78dfd0
commit 18d1787
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/src/jaxsim/parsers/descriptions/link.py b/src/jaxsim/parsers/descriptions/link.py
@@ -31,7 +31,7 @@ class LinkDescription(JaxsimDataclass):
     mass: float = dataclasses.field(repr=False)
     inertia: jtp.Matrix = dataclasses.field(repr=False)
     index: int | None = None
-    parent_name: str | None = dataclasses.field(default=None, repr=False)
+    parent_name: Static[str | None] = dataclasses.field(default=None, repr=False)
     pose: jtp.Matrix = dataclasses.field(default_factory=lambda: jnp.eye(4), repr=False)
 
     children: Static[tuple[LinkDescription]] = dataclasses.field(

diff --git a/src/jaxsim/parsers/kinematic_graph.py b/src/jaxsim/parsers/kinematic_graph.py
@@ -975,6 +975,6 @@ def find_parent_link_of_frame(self, name: str) -> str:
             return frame.parent_name
         elif frame.parent_name in self.graph.frames_dict:
             return self.find_parent_link_of_frame(name=frame.parent_name)
-        else:
-            msg = f"Failed to find parent element of frame '{name}' with name '{frame.parent_name}'"
-            raise RuntimeError(msg)
+
+        msg = f"Failed to find parent element of frame '{name}' with name '{frame.parent_name}'"
+        raise RuntimeError(msg)