From c136f3d6e8010d12cd276f14a468017012d9f8c2 Mon Sep 17 00:00:00 2001
From: Baruch Tabanpour <btaba@google.com>
Date: Thu, 6 Jun 2024 19:08:52 -0700
Subject: [PATCH] Fix barkour path.

PiperOrigin-RevId: 641093437
Change-Id: I92b8193c8458461e1a1f80b1e4c099067ed2099a
---
 mjx/tutorial.ipynb | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/mjx/tutorial.ipynb b/mjx/tutorial.ipynb
index 7f13bb37..024a9c8f 100644
--- a/mjx/tutorial.ipynb
+++ b/mjx/tutorial.ipynb
@@ -909,6 +909,9 @@
    "source": [
     "#@title Barkour vb Quadruped Env\n",
     "\n",
+    "BARKOUR_ROOT_PATH = epath.Path('mujoco_menagerie/google_barkour_vb')\n",
+    "\n",
+    "\n",
     "def get_config():\n",
     "  \"\"\"Returns reward config for barkour quadruped environment.\"\"\"\n",
     "\n",
@@ -979,8 +982,7 @@
     "      scene_file: str = 'scene_mjx.xml',\n",
     "      **kwargs,\n",
     "  ):\n",
-    "# path = epath.Path('mujoco_menagerie/google_barkour_vb')\n",
-    "    path = path / scene_file\n",
+    "    path = BARKOUR_ROOT_PATH / scene_file\n",
     "    sys = mjcf.load(path.as_posix())\n",
     "    self._dt = 0.02  # this environment is 50 fps\n",
     "    sys = sys.tree_replace({'opt.timestep': 0.004})\n",