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ami-iit · Nov 11, 2024 · 0e00398 · 0e00398
1 parent 4c0f014
commit 0e00398
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/src/rod/kinematics/tree_transforms.py b/src/rod/kinematics/tree_transforms.py
@@ -13,7 +13,9 @@
 
 @dataclasses.dataclass
 class TreeTransforms:
-    kinematic_tree: KinematicTree = dataclasses.dataclass(init=False)
+    kinematic_tree: KinematicTree = dataclasses.field(
+        default_factory=dataclasses.dataclass(init=False)
+    )
     _transform_cache: dict[str, npt.NDArray] = dataclasses.field(default_factory=dict)
 
     @staticmethod

diff --git a/src/rod/utils/frame_convention.py b/src/rod/utils/frame_convention.py
@@ -193,9 +193,7 @@ def switch_frame_convention(
     # Adjust the reference frames of all sub-models
     for sub_model in model.models():
         logging.info(
-            "Model composition not yet supported, ignoring '{}/{}'".format(
-                model.name, sub_model.name
-            )
+            f"Model composition not yet supported, ignoring '{model.name}/{sub_model.name}'"
         )
 
     # Adjust the reference frames of all joints