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Update simulation params in MJX's tutorial

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Goncalo Gordo
2024-08-29 14:39:08 +01:00
parent ee731506d7
commit 5faff169b7
1 changed files with 3 additions and 3 deletions
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mjx/tutorial.ipynb
+3 -3
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@@ -440,12 +440,12 @@
" mj_model = mujoco.MjModel.from_xml_path(\n", " mj_model = mujoco.MjModel.from_xml_path(\n",
" (path / 'humanoid.xml').as_posix())\n", " (path / 'humanoid.xml').as_posix())\n",
" mj_model.opt.solver = mujoco.mjtSolver.mjSOL_CG\n", " mj_model.opt.solver = mujoco.mjtSolver.mjSOL_CG\n",
" mj_model.opt.iterations = 6\n", " mj_model.opt.iterations = 4\n",
" mj_model.opt.ls_iterations = 6\n", " mj_model.opt.ls_iterations = 4\n",
"\n", "\n",
" sys = mjcf.load_model(mj_model)\n", " sys = mjcf.load_model(mj_model)\n",
"\n", "\n",
" physics_steps_per_control_step = 5\n", " physics_steps_per_control_step = 4\n",
" kwargs['n_frames'] = kwargs.get(\n", " kwargs['n_frames'] = kwargs.get(\n",
" 'n_frames', physics_steps_per_control_step)\n", " 'n_frames', physics_steps_per_control_step)\n",
" kwargs['backend'] = 'mjx'\n", " kwargs['backend'] = 'mjx'\n",