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Fix https://github.com/google-deepmind/mujoco/issues/1123

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PiperOrigin-RevId: 576159322
Change-Id: I29fc3df294af008f55324bc49c0f597d778e3392
This commit is contained in:
Baruch Tabanpour
2023-10-24 09:07:17 -07:00
committed by Copybara-Service
parent 612de347d7
commit a4588cee12
1 changed files with 1 additions and 1 deletions
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mjx/tutorial.ipynb
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@@ -313,7 +313,7 @@
" \"\"\"Returns 6d spatial transform and 6d velocity for all bodies.\"\"\"\n",
" x = Transform(pos=data.xpos[1:, :], rot=data.xquat[1:, :])\n",
" cvel = Motion(vel=data.cvel[1:, 3:], ang=data.cvel[1:, :3])\n",
" offset = data.xipos[1:, :] - data.subtree_com[\n",
" offset = data.xpos[1:, :] - data.subtree_com[\n",
" self.model.body_rootid[np.arange(1, self.model.nbody)]]\n",
" xd = Transform.create(pos=offset).vmap().do(cvel)\n",
" return x, xd\n"