From 688d367733248b342875520e7fb7e22fd17ef1e4 Mon Sep 17 00:00:00 2001
From: Taylor Howell <taylorhowell@google.com>
Date: Fri, 17 Jan 2025 11:48:48 -0800
Subject: [PATCH] Modify model loading in MJX tutorial.

PiperOrigin-RevId: 716745232
Change-Id: Ib89f8c00a58b493c89f72c82b47f1c8ff8326536
---
 mjx/tutorial.ipynb | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/mjx/tutorial.ipynb b/mjx/tutorial.ipynb
index 905e2ae3..b29b20f1 100644
--- a/mjx/tutorial.ipynb
+++ b/mjx/tutorial.ipynb
@@ -423,6 +423,8 @@
    "source": [
     "#@title Humanoid Env\n",
     "\n",
+    "HUMANOID_ROOT_PATH = epath.Path(epath.resource_path('mujoco')) / 'mjx/test_data/humanoid'\n",
+    "\n",
     "class Humanoid(PipelineEnv):\n",
     "\n",
     "  def __init__(\n",
@@ -436,11 +438,8 @@
     "      exclude_current_positions_from_observation=True,\n",
     "      **kwargs,\n",
     "  ):\n",
-    "    path = epath.Path(epath.resource_path('mujoco')) / (\n",
-    "        'mjx/test_data/humanoid'\n",
-    "    )\n",
     "    mj_model = mujoco.MjModel.from_xml_path(\n",
-    "        (path / 'humanoid.xml').as_posix())\n",
+    "        (HUMANOID_ROOT_PATH / 'humanoid.xml').as_posix())\n",
     "    mj_model.opt.solver = mujoco.mjtSolver.mjSOL_CG\n",
     "    mj_model.opt.iterations = 6\n",
     "    mj_model.opt.ls_iterations = 6\n",