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Replace dt with opt.timestep.

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PiperOrigin-RevId: 636984197
Change-Id: I2b5eaae0c5e5be840f93c4fe8f725884959703cd
This commit is contained in:
Baruch Tabanpour
2024-05-24 11:34:26 -07:00
committed by Copybara-Service
parent 50aab2dd48
commit 2a9067a6b3
1 changed files with 2 additions and 2 deletions
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mjx/tutorial.ipynb
+2 -2
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@@ -977,7 +977,7 @@
" path = epath.Path('mujoco_menagerie/google_barkour_vb/scene_mjx.xml')\n", " path = epath.Path('mujoco_menagerie/google_barkour_vb/scene_mjx.xml')\n",
" sys = mjcf.load(path.as_posix())\n", " sys = mjcf.load(path.as_posix())\n",
" self._dt = 0.02 # this environment is 50 fps\n", " self._dt = 0.02 # this environment is 50 fps\n",
" sys = sys.tree_replace({'opt.timestep': 0.004, 'dt': 0.004})\n", " sys = sys.tree_replace({'opt.timestep': 0.004})\n",
"\n", "\n",
" # override menagerie params for smoother policy\n", " # override menagerie params for smoother policy\n",
" sys = sys.replace(\n", " sys = sys.replace(\n",
@@ -1448,7 +1448,7 @@
}, },
"outputs": [], "outputs": [],
"source": [ "source": [
"HTML(html.render(eval_env.sys.replace(dt=eval_env.dt), rollout))" "HTML(html.render(eval_env.sys.tree_replace({'opt.timestep': eval_env.dt}), rollout))"
] ]
} }
], ],