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Merge pull request #1275 from TyLindberg:patch-1

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PiperOrigin-RevId: 590693053
Change-Id: Ie1ec8edc2681050f089f150a775612fc8449d948
This commit is contained in:
Copybara-Service
2023-12-13 13:17:12 -08:00
parent 1c34553631 b82c382c53
commit 4bbb19144e
1 changed files with 2 additions and 4 deletions
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mjx/tutorial.ipynb
+2 -4
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@@ -416,10 +416,8 @@
" forward_reward = self._forward_reward_weight * velocity[0]\n",
"\n",
" min_z, max_z = self._healthy_z_range\n",
" is_healthy = jp.where(data.qpos[2] \u003c min_z, x=0.0, y=1.0)\n",
" is_healthy = jp.where(\n",
" data.qpos[2] \u003e max_z, x=0.0, y=is_healthy\n",
" )\n",
" is_healthy = jp.where(data.qpos[2] \u003c min_z, 0.0, 1.0)\n",
" is_healthy = jp.where(data.qpos[2] \u003e max_z, 0.0, is_healthy)\n",
" if self._terminate_when_unhealthy:\n",
" healthy_reward = self._healthy_reward\n",
" else:\n",