[MISC] Fix max number of constraints. (#2000)

Author: duburcqa

genesis/engine/solvers/rigid/constraint_solver_decomp.py

@@ -31,14 +31,15 @@ def __init__(self, rigid_solver: "RigidSolver"):
         self.ls_tolerance = rigid_solver._options.ls_tolerance
         self.sparse_solve = rigid_solver._options.sparse_solve
 
+        # Note that it must be over-estimated because friction parameters and joint limits may be updated dynamically.
         # * 4 constraints per contact
-        # * 1 constraint per joint limit (upper and lower, if not inf)
+        # * 1 constraint per 1DoF joint limit (upper and lower, if not inf)
         # * 1 constraint per dof frictionloss
         # * up to 6 constraints per equality (weld)
         self.len_constraints = int(
             4 * rigid_solver.collider._collider_info.max_contact_pairs[None]
-            + (self._solver.dofs_info.frictionloss.to_numpy() > gs.EPS).sum()
-            + (~np.isinf(self._solver.dofs_info.limit.to_numpy()).any(axis=-1)).sum()
+            + sum(joint.type in (gs.JOINT_TYPE.REVOLUTE, gs.JOINT_TYPE.PRISMATIC) for joint in self._solver.joints)
+            + self._solver.n_dofs
             + self._solver.n_equalities_candidate * 6
         )
         self.len_constraints_ = max(1, self.len_constraints)