Reshape arrays for LQR notebooks for Mujoco sparse2dense

Without reshape the collabs results in an error due to incompatible function arguments PiperOrigin-RevId: 696554177 Change-Id: Id4317ee6fccbe2ac912af7a8b07228ddebebbbcf
google-deepmind · Nov 14, 2024 · 3866621 · 3866621
1 parent 0a0de66
commit 3866621
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/python/LQR.ipynb b/python/LQR.ipynb
@@ -494,10 +494,10 @@
     "actuator_moment = np.zeros((model.nu, model.nv))\n",
     "mujoco.mju_sparse2dense(\n",
     "    actuator_moment,\n",
-    "    data.actuator_moment,\n",
+    "    data.actuator_moment.reshape(-1),\n",
     "    data.moment_rownnz,\n",
     "    data.moment_rowadr,\n",
-    "    data.moment_colind,\n",
+    "    data.moment_colind.reshape(-1),\n",
     ")\n",
     "ctrl0 = np.atleast_2d(qfrc0) @ np.linalg.pinv(actuator_moment)\n",
     "ctrl0 = ctrl0.flatten()  # Save the ctrl setpoint.\n",