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LQR.ipynb: Don't refer to global model from Renderer.

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PiperOrigin-RevId: 477444216
Change-Id: I1e71d823428b1c4f60751720fe5b85d5ae98c5c2
This commit is contained in:
Nimrod Gileadi
2022-09-28 07:11:05 -07:00
committed by Copybara-Service
parent 323d6e96fd
commit d3dbc554b9
1 changed files with 4 additions and 4 deletions
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python/LQR.ipynb
+4 -4
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@@ -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",