Skip to content

update io.put_data efc_J reshape #1252

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Closed
thowell wants to merge 1 commit into from
Closed

update io.put_data efc_J reshape #1252

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 2 additions & 2 deletions mujoco_warp/_src/io.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -981,7 +981,7 @@ def put_data(
if mujoco.mj_isSparse(mjm):
mujoco.mju_sparse2dense(mj_efc_J, mjd.efc_J, mjd.efc_J_rownnz, mjd.efc_J_rowadr, mjd.efc_J_colind)
else:
mj_efc_J = mjd.efc_J.reshape((mjd.nefc, mjm.nv))
mj_efc_J = mjd.efc_J.reshape((-1, mjm.nv))[: mjd.nefc]
efc_J = np.zeros((njmax, mjm.nv), dtype=float)
efc_J[: mjd.nefc, : mjm.nv] = mj_efc_J
efc_J_flat = np.tile(efc_J.reshape(-1), (nworld, 1, 1)).reshape((nworld, 1, -1))[:, :, :njmax_nnz]
Expand All @@ -996,7 +996,7 @@ def put_data(
if mujoco.mj_isSparse(mjm):
mujoco.mju_sparse2dense(mj_efc_J, mjd.efc_J, mjd.efc_J_rownnz, mjd.efc_J_rowadr, mjd.efc_J_colind)
else:
mj_efc_J = mjd.efc_J.reshape((mjd.nefc, mjm.nv))
mj_efc_J = mjd.efc_J.reshape((-1, mjm.nv))[: mjd.nefc]
efc_J = np.zeros((nworld, sizes["njmax_pad"], sizes["nv_pad"]), dtype=float)
efc_J[:, : mjd.nefc, : mjm.nv] = np.tile(mj_efc_J, (nworld, 1, 1))
efc.J = wp.array(efc_J, dtype=float)
Expand Down
Loading