minor fix in examples

based-robotics · Sep 3, 2024 · e414181 · e414181
1 parent a8e0c03
commit e414181
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Showing 2 changed files with 8 additions and 8 deletions.
diff --git a/examples/03_pinocchio.py b/examples/03_pinocchio.py
@@ -91,6 +91,6 @@ def casadi_sequential_evaluation(q_vals):
 
 # Verify results
 print("\nVerifying performance test results:")
-casadi_results = np.array(casadi_sequential_evaluation(q_vals[:50]))[:,:,0]
-jax_results = np.array(jax_fn_vectorized(jax_q_vals[:50]))[0,:,:,0]
-print("First 50 results match:", np.allclose(casadi_results, jax_results, atol=1e-6))
+casadi_results = np.array(casadi_sequential_evaluation(q_vals[:100]))[:,:,0]
+jax_results = np.array(jax_fn_vectorized(jax_q_vals[:100]))[0,:,:,0]
+print("First 100 results match:", np.allclose(casadi_results, jax_results, atol=1e-6))
diff --git a/examples/04_mjx.py b/examples/04_mjx.py
@@ -126,8 +126,8 @@ def mjx_fk(joint_pos):
 
 # Verify results
 print("\nVerifying performance test results:")
-casadi_results = np.array(casadi_sequential_evaluation(q_vals[:10]))[:,:,0]
-jax_results = np.array(jax_fn_vectorized(jax_q_vals[:10]))[0,:,:,0]
-mjx_results = np.array(mjx_fn_vectorized(mjx_q_vals[:10]))
-print("First 10 JAX and Casadi results match:", np.allclose(casadi_results, jax_results, atol=1e-6))
-print("First 10 MJX and Casadi results match:", np.allclose(casadi_results, mjx_results, atol=1e-6))
+casadi_results = np.array(casadi_sequential_evaluation(q_vals[:100]))[:,:,0]
+jax_results = np.array(jax_fn_vectorized(jax_q_vals[:100]))[0,:,:,0]
+mjx_results = np.array(mjx_fn_vectorized(mjx_q_vals[:100]))
+print("First 100 JAX and Casadi results match:", np.allclose(casadi_results, jax_results, atol=1e-6))
+print("First 100 MJX and Casadi results match:", np.allclose(casadi_results, mjx_results, atol=1e-6))