Merge pull request #1275 from TyLindberg:patch-1

PiperOrigin-RevId: 590693053 Change-Id: Ie1ec8edc2681050f089f150a775612fc8449d948
google-deepmind · Dec 13, 2023 · 4bbb191 · 4bbb191
2 parents 1c34553 + b82c382
commit 4bbb191
Showing 1 changed file with 2 additions and 4 deletions.
diff --git a/mjx/tutorial.ipynb b/mjx/tutorial.ipynb
@@ -416,10 +416,8 @@
         "    forward_reward = self._forward_reward_weight * velocity[0]\n",
         "\n",
         "    min_z, max_z = self._healthy_z_range\n",
-        "    is_healthy = jp.where(data.qpos[2] \u003c min_z, x=0.0, y=1.0)\n",
-        "    is_healthy = jp.where(\n",
-        "        data.qpos[2] \u003e max_z, x=0.0, y=is_healthy\n",
-        "    )\n",
+        "    is_healthy = jp.where(data.qpos[2] \u003c min_z, 0.0, 1.0)\n",
+        "    is_healthy = jp.where(data.qpos[2] \u003e max_z, 0.0, is_healthy)\n",
         "    if self._terminate_when_unhealthy:\n",
         "      healthy_reward = self._healthy_reward\n",
         "    else:\n",