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Modify model loading in MJX tutorial.

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PiperOrigin-RevId: 716745232
Change-Id: Ib89f8c00a58b493c89f72c82b47f1c8ff8326536
This commit is contained in:
Taylor Howell
2025-01-17 11:48:48 -08:00
committed by Copybara-Service
parent 71e5e376bc
commit 688d367733
1 changed files with 3 additions and 4 deletions
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mjx/tutorial.ipynb
+3 -4
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@@ -423,6 +423,8 @@
"source": [ "source": [
"#@title Humanoid Env\n", "#@title Humanoid Env\n",
"\n", "\n",
"HUMANOID_ROOT_PATH = epath.Path(epath.resource_path('mujoco')) / 'mjx/test_data/humanoid'\n",
"\n",
"class Humanoid(PipelineEnv):\n", "class Humanoid(PipelineEnv):\n",
"\n", "\n",
" def __init__(\n", " def __init__(\n",
@@ -436,11 +438,8 @@
" exclude_current_positions_from_observation=True,\n", " exclude_current_positions_from_observation=True,\n",
" **kwargs,\n", " **kwargs,\n",
" ):\n", " ):\n",
" path = epath.Path(epath.resource_path('mujoco')) / (\n",
" 'mjx/test_data/humanoid'\n",
" )\n",
" mj_model = mujoco.MjModel.from_xml_path(\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.solver = mujoco.mjtSolver.mjSOL_CG\n",
" mj_model.opt.iterations = 6\n", " mj_model.opt.iterations = 6\n",
" mj_model.opt.ls_iterations = 6\n", " mj_model.opt.ls_iterations = 6\n",