From 8358f6d605ce239e889851079862accc286c37e1 Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Fri, 1 Nov 2024 05:24:21 -0700 Subject: [PATCH] Don't use `actuator_moment` in `lqr_solver.py` PiperOrigin-RevId: 692141608 Change-Id: I852624640304be8211d07a52dcf7f3aa7c92a29f --- dm_control/suite/lqr_solver.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/dm_control/suite/lqr_solver.py b/dm_control/suite/lqr_solver.py index 85f474fc..e27738cc 100644 --- a/dm_control/suite/lqr_solver.py +++ b/dm_control/suite/lqr_solver.py @@ -60,7 +60,7 @@ def solve(env): (dt * j + np.hstack((np.zeros((n, n)), np.eye(n))), j)) # Control transition matrix b. - b = env.physics.data.actuator_moment.T + b = np.vstack((np.eye(m), np.zeros((n - m, m)))) bc = np.linalg.solve(mass, b) b = dt * np.vstack((dt * bc, bc))