Fixed bug in visualization of SE2 motion plans. (facebookresearch#293)

suddhu · Sep 8, 2022 · 5f9cc76 · 5f9cc76
1 parent 6ac4525
commit 5f9cc76
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/theseus/utils/examples/motion_planning/motion_planner.py b/theseus/utils/examples/motion_planning/motion_planner.py
@@ -349,7 +349,7 @@ def get_variable_values_from_straight_line(
                 cur_pos = start[:, :2] + unit_trajectory_len * i
                 input_dict[f"pose_{i}"] = torch.cat([cur_pos, start[:, 2:]], dim=1)
                 input_dict[f"vel_{i}"] = torch.cat(
-                    [avg_vel, torch.zeros(avg_vel.shape[0], 1)], dim=1
+                    [avg_vel, torch.zeros_like(avg_vel[:, :1])], dim=1
                 )
             else:
                 input_dict[f"pose_{i}"] = start + unit_trajectory_len * i