Make all fields of simulator.JaxSim static, excluding SimulatorData

Fixes trace leaks when jitting vectorized simulations
flferretti · Oct 20, 2023 · 0d59772 · 0d59772
1 parent e9bb166
commit 0d59772
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/jaxsim/simulation/simulator.py b/src/jaxsim/simulation/simulator.py
@@ -63,7 +63,7 @@ class JaxSim(Vmappable):
     """The JaxSim simulator."""
 
     # Step size stored in ns in order to prevent floats approximation
-    step_size_ns: jtp.Int = dataclasses.field(
+    step_size_ns: Static[jtp.Int] = dataclasses.field(
         default_factory=lambda: jnp.array(1_000_000, dtype=jnp.uint64)
     )