chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

Remove unnecessary parens

Browse Source
This commit is contained in:
Jaroslav Sevcik
2024-02-27 00:10:21 -08:00
parent 29d6e10375
commit 7688e03eea
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
mjx/mujoco/mjx/_src/smooth.py
+2 -2
View File
@@ -289,7 +289,7 @@ def solve_m(m: Model, d: Data, x: jax.Array) -> jax.Array:
# x <- inv(L') * x
for _, vals in sorted(updates_j.items(), reverse=True):
j, madr_ij, i = np.array(vals).T
x = x.at[j].add(-(d.qLD[madr_ij] * x[i]))
x = x.at[j].add(-d.qLD[madr_ij] * x[i])
# x <- inv(D) * x
x = x * d.qLDiagInv
@@ -297,7 +297,7 @@ def solve_m(m: Model, d: Data, x: jax.Array) -> jax.Array:
# x <- inv(L) * x
for _, vals in sorted(updates_i.items()):
i, madr_ij, j = np.array(vals).T
x = x.at[i].add(-(d.qLD[madr_ij] * x[j]))
x = x.at[i].add(-d.qLD[madr_ij] * x[j])
return x