diff --git a/python/LQR.ipynb b/python/LQR.ipynb
index ffdde45c..31bf3231 100644
--- a/python/LQR.ipynb
+++ b/python/LQR.ipynb
@@ -226,12 +226,12 @@
         "    if not isinstance(camera, mujoco.MjvCamera):\n",
         "      camera_id = camera\n",
         "      if isinstance(camera_id, str):\n",
-        "        camera_id = model.name2id(camera_id, 'camera')\n",
+        "        camera_id = self._model.name2id(camera_id, 'camera')\n",
         "      if camera_id \u003c -1:\n",
         "        raise ValueError('camera_id cannot be smaller than -1.')\n",
-        "      if camera_id \u003e= model.ncam:\n",
+        "      if camera_id \u003e= self._model.ncam:\n",
         "        raise ValueError(\n",
-        "            f'model has {model.ncam} fixed cameras. '\n",
+        "            f'model has {self._model.ncam} fixed cameras. '\n",
         "            f'camera_id={camera_id} is invalid.'\n",
         "        )\n",
         "      camera = mujoco.MjvCamera()\n",
@@ -240,7 +240,7 @@
         "      # -1 corresponds to free camera.\n",
         "      if camera_id == -1:\n",
         "        camera.type = mujoco.mjtCamera.mjCAMERA_FREE\n",
-        "        mujoco.mjv_defaultFreeCamera(model, camera)\n",
+        "        mujoco.mjv_defaultFreeCamera(self._model, camera)\n",
         "      # Else index into the corresponding fixed camera.\n",
         "      else:\n",
         "        camera.type = mujoco.mjtCamera.mjCAMERA_FIXED\n",