Fix hfield in edge case

ami-iit · Oct 14, 2024 · a1a6c71 · a1a6c71
1 parent 93dd6f9
commit a1a6c71
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/src/jaxsim/mujoco/model.py b/src/jaxsim/mujoco/model.py
@@ -107,7 +107,8 @@ def build_from_xml(
             size = [float(el) for el in hfield_element["@size"].split(" ")]
             size[0], size[1] = heightmap_radius_xy
             size[2] = 1.0
-            size[3] = max(0, -min(hfield))
+            # The following could be zero but Mujoco complains if it's exactly zero.
+            size[3] = max(0.000_001, -min(hfield))
 
             # Replace the 'size' attribute.
             hfields_dict[heightmap_name]["@size"] = " ".join(str(el) for el in size)