chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Fix barkour path.

Browse Source 
PiperOrigin-RevId: 641093437
Change-Id: I92b8193c8458461e1a1f80b1e4c099067ed2099a
This commit is contained in:
Baruch Tabanpour
2024-06-06 19:08:52 -07:00
committed by Copybara-Service
parent ace0c8f0a3
commit c136f3d6e8
1 changed files with 4 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
mjx/tutorial.ipynb
+4 -2
View File
@@ -909,6 +909,9 @@
"source": [ "source": [
"#@title Barkour vb Quadruped Env\n", "#@title Barkour vb Quadruped Env\n",
"\n", "\n",
"BARKOUR_ROOT_PATH = epath.Path('mujoco_menagerie/google_barkour_vb')\n",
"\n",
"\n",
"def get_config():\n", "def get_config():\n",
" \"\"\"Returns reward config for barkour quadruped environment.\"\"\"\n", " \"\"\"Returns reward config for barkour quadruped environment.\"\"\"\n",
"\n", "\n",
@@ -979,8 +982,7 @@
" scene_file: str = 'scene_mjx.xml',\n", " scene_file: str = 'scene_mjx.xml',\n",
" **kwargs,\n", " **kwargs,\n",
" ):\n", " ):\n",
"# path = epath.Path('mujoco_menagerie/google_barkour_vb')\n", " path = BARKOUR_ROOT_PATH / scene_file\n",
" path = path / scene_file\n",
" sys = mjcf.load(path.as_posix())\n", " sys = mjcf.load(path.as_posix())\n",
" self._dt = 0.02 # this environment is 50 fps\n", " self._dt = 0.02 # this environment is 50 fps\n",
" sys = sys.tree_replace({'opt.timestep': 0.004})\n", " sys = sys.tree_replace({'opt.timestep': 0.004})\n",