From 8d1f65c01ab931b07e27b43b8ea1e0f0f814491f Mon Sep 17 00:00:00 2001 From: Baruch Tabanpour Date: Tue, 30 Apr 2024 10:12:10 -0700 Subject: [PATCH] Add act to mjx viewer. PiperOrigin-RevId: 629451047 Change-Id: I0baf546d3d91632291e93dec39f4dba7c329d370 --- mjx/mujoco/mjx/viewer.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mjx/mujoco/mjx/viewer.py b/mjx/mujoco/mjx/viewer.py index c4d7c607db..0a1605a6c1 100644 --- a/mjx/mujoco/mjx/viewer.py +++ b/mjx/mujoco/mjx/viewer.py @@ -53,7 +53,7 @@ def _main(argv: Sequence[str]) -> None: start = time.time() # TODO(robotics-simulation): recompile when changing disable flags, etc. - dx = dx.replace(ctrl=d.ctrl, xfrc_applied=d.xfrc_applied) + dx = dx.replace(ctrl=d.ctrl, act=d.act, xfrc_applied=d.xfrc_applied) dx = dx.replace(qpos=d.qpos, qvel=d.qvel, time=d.time) # handle resets mx = mx.tree_replace({ 'opt.gravity': m.opt.gravity,