mpc example updated.

2025-03-08 02:45:17 +00:00 · 2025-03-08 02:45:17 +00:00 · d1df87fe26
parent 7ed925c48a
commit d1df87fe26
2 changed files with 1068 additions and 11743 deletions
--- a/Go2Py/sim/mujoco.py
+++ b/Go2Py/sim/mujoco.py
@ -369,8 +369,8 @@ class Go2Sim:
        else:
            assert q0.shape == (self.nq,), f'Invalid q0 shape. The shape should be ({self.nq},)'
            self.q_nominal = q0
-        self.data.qpos = self.q_nominal
-        self.data.qvel = np.zeros(self.nv)
+        self.data.qpos[:] = self.q_nominal
+        self.data.qvel[:] = np.zeros(self.nv)
        self.ex_sum=0
        self.ey_sum=0
        self.e_omega_sum=0
--- a/examples/09-crododdyl.ipynb
+++ b/examples/09-crododdyl.ipynb