From b57cb95ddbd0664370badf0b282775937ef88c83 Mon Sep 17 00:00:00 2001 From: hzaskywalker Date: Sun, 30 Jun 2024 19:20:39 -0700 Subject: [PATCH] use zeros_like in scene setup gpu to avoid nan --- mani_skill/envs/scene.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/mani_skill/envs/scene.py b/mani_skill/envs/scene.py index 5735df391..c991b7b7a 100644 --- a/mani_skill/envs/scene.py +++ b/mani_skill/envs/scene.py @@ -689,10 +689,10 @@ def _setup_gpu(self): articulation.set_pose(articulation.initial_pose) self.px.cuda_rigid_body_data.torch()[:, 7:] = ( - self.px.cuda_rigid_body_data.torch()[:, 7:] * 0 + torch.zeros_like(self.px.cuda_rigid_body_data.torch()[:, 7:]) ) # zero out all velocities self.px.cuda_articulation_qvel.torch()[:, :] = ( - self.px.cuda_articulation_qvel.torch() * 0 + torch.zeros_like(self.px.cuda_articulation_qvel.torch()) ) # zero out all q velocities self.px.gpu_apply_rigid_dynamic_data()