From 6f406c6d7330a6100ac20dfb8609e7b4d6f8075c Mon Sep 17 00:00:00 2001 From: ynrng Date: Fri, 20 Feb 2026 14:36:16 +0000 Subject: [PATCH] Fix execution errors. --- python/mjspec.ipynb | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/python/mjspec.ipynb b/python/mjspec.ipynb index 2b98508caa..135bad8bc0 100644 --- a/python/mjspec.ipynb +++ b/python/mjspec.ipynb @@ -2000,7 +2000,7 @@ "\n", "# Delete all key frames to avoid name conflicts\n", "while humanoid.keys:\n", - " humanoid.delete(keys[-1])\n", + " humanoid.delete(humanoid.keys[-1])\n", "\n", "# Create a grid of humanoids by attaching humanoid to spec multiple times\n", "for i in range(4):\n", @@ -2160,7 +2160,7 @@ " quat=[-np.sqrt(2)/2, 0, 0, np.sqrt(2) / 2])\n", "frame.attach_body(humanoid.body('torso'), str(0))\n", "# Record squat pose\n", - "humanoid_squat = humanoid.key('squat').qpos\n", + "humanoid_squat = np.array(humanoid.key('squat').qpos)\n", "humanoid_squat[:2] = frame.pos[:2]\n", "humanoid_squat[3:7] = frame.quat\n", "squat_qpos.append(humanoid_squat)\n", @@ -2170,7 +2170,7 @@ " quat=[-np.sqrt(2)/2, 0, 0, np.sqrt(2) / 2])\n", "frame.attach_body(small_humanoid.body('torso'), str(1))\n", "# Record squat pose\n", - "humanoid_squat = small_humanoid.key('squat').qpos\n", + "humanoid_squat = np.array(small_humanoid.key('squat').qpos)\n", "humanoid_squat[:2] = frame.pos[:2]\n", "humanoid_squat[3:7] = frame.quat\n", "squat_qpos.append(humanoid_squat)\n", @@ -2180,7 +2180,7 @@ " quat=[-np.sqrt(2)/2, 0, 0, np.sqrt(2) / 2] )\n", "frame.attach_body(small_humanoid_actuators_scaled.body('torso'), str(2))\n", "# Record squat pose\n", - "humanoid_squat = small_humanoid_actuators_scaled.key('squat').qpos\n", + "humanoid_squat = np.array(small_humanoid_actuators_scaled.key('squat').qpos)\n", "humanoid_squat[:2] = frame.pos[:2]\n", "humanoid_squat[3:7] = frame.quat\n", "squat_qpos.append(humanoid_squat)\n",