From cff4549b8a2f909e4ddcd1f54600e9dec17579c1 Mon Sep 17 00:00:00 2001 From: Eric Shi Date: Tue, 4 Feb 2025 10:39:59 -0800 Subject: [PATCH] Use new Tile Cholesky API --- warp/sim/integrator_featherstone.py | 15 ++++----------- 1 file changed, 4 insertions(+), 11 deletions(-) diff --git a/warp/sim/integrator_featherstone.py b/warp/sim/integrator_featherstone.py index bf99960c2..90b4e64ff 100644 --- a/warp/sim/integrator_featherstone.py +++ b/warp/sim/integrator_featherstone.py @@ -1177,14 +1177,7 @@ def eval_dense_gemm_tile( P_body = wp.tile_matmul(M_body, J_body) # assign to the P slice - wp.tile_assign( - P, - P_body, - offset=( - i * 6, - 0, - ), - ) + wp.tile_assign(P, P_body, offset=(i * 6, 0)) # compute H = J^T*P H = wp.tile_matmul(wp.tile_transpose(J), P) @@ -1205,9 +1198,9 @@ def eval_tiled_dense_cholesky_batched( a = wp.tile_load(A[articulation], shape=(num_dofs, num_dofs), storage="shared") r = wp.tile_load(R[articulation], shape=num_dofs, storage="shared") - wp.tile_diag_add(a, r) - wp.tile_cholesky(a) - wp.tile_store(L[articulation], wp.tile_transpose(a)) + a_r = wp.tile_diag_add(a, r) + l = wp.tile_cholesky(a_r) + wp.tile_store(L[articulation], wp.tile_transpose(l)) return eval_tiled_dense_cholesky_batched