From 7af9bcbf00be9efa4f972bad8ca29e648716b1b3 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Wed, 12 Feb 2025 01:01:21 -0800
Subject: [PATCH] mjSpec tutorial: Move humanoid and Menagerie imports to the
 cells that require them.

PiperOrigin-RevId: 725945693
Change-Id: I3f0d4c867626ef61605815bb708a55c8e29d79e2
---
 python/mjspec.ipynb | 19 ++++++++++---------
 1 file changed, 10 insertions(+), 9 deletions(-)

diff --git a/python/mjspec.ipynb b/python/mjspec.ipynb
index e5392ed2..e818800a 100644
--- a/python/mjspec.ipynb
+++ b/python/mjspec.ipynb
@@ -112,15 +112,6 @@
     "from IPython.display import clear_output, HTML, display\n",
     "clear_output()\n",
     "\n",
-    "# Get MuJoCo's humanoid model and a Franka arm from the MuJoCo Menagerie.\n",
-    "print('Getting MuJoCo humanoid XML description from GitHub:')\n",
-    "!git clone https://github.com/google-deepmind/mujoco\n",
-    "humanoid_file = 'mujoco/model/humanoid/humanoid.xml'\n",
-    "humanoid100_file = 'mujoco/model/humanoid/humanoid100.xml'\n",
-    "print('Getting MuJoCo Menagerie Franka XML description from GitHub:')\n",
-    "!git clone https://github.com/google-deepmind/mujoco_menagerie\n",
-    "franka_file = 'mujoco_menagerie/franka_fr3/fr3.xml'\n",
-    "\n",
     "\n",
     "is_dark = output.eval_js('document.documentElement.matches(\"[theme=dark]\")')\n",
     "print_style = 'monokai' if is_dark else 'lovelace'\n",
@@ -806,6 +797,12 @@
    "source": [
     "#@title Traversing the spec.{vertical-output: true}\n",
     "\n",
+    "# Get MuJoCo's humanoid model.\n",
+    "print('Getting MuJoCo humanoid XML description from GitHub:')\n",
+    "!git clone https://github.com/google-deepmind/mujoco\n",
+    "humanoid_file = 'mujoco/model/humanoid/humanoid.xml'\n",
+    "humanoid100_file = 'mujoco/model/humanoid/humanoid100.xml'\n",
+    "\n",
     "spec = mj.MjSpec.from_file(humanoid_file)\n",
     "\n",
     "# Function that recursively prints all body names\n",
@@ -969,6 +966,10 @@
    "source": [
     "#@title Humanoid with Franka arm.{vertical-output: true}\n",
     "\n",
+    "# Get Franka arm from the MuJoCo Menagerie.\n",
+    "!git clone https://github.com/google-deepmind/mujoco_menagerie\n",
+    "franka_file = 'mujoco_menagerie/franka_fr3/fr3.xml'\n",
+    "\n",
     "spec = mj.MjSpec.from_file(humanoid_file)\n",
     "franka = mj.MjSpec.from_file(franka_file)\n",
     "\n",