Merge pull request #53 from vincentzhang:main

PiperOrigin-RevId: 727064864 Change-Id: I82a690120db8409e3687cb4bd2e30fa3a817083d
google-deepmind · Feb 14, 2025 · 0b021c9 · 0b021c9
2 parents 0fb7bbd + 4b9878c
commit 0b021c9
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Showing 14 changed files with 14 additions and 14 deletions.
diff --git a/learning/notebooks/locomotion.ipynb b/learning/notebooks/locomotion.ipynb
@@ -798,7 +798,7 @@
         "print(f\"{ckpt_path}\")\n",
         "\n",
         "with open(ckpt_path / \"config.json\", \"w\") as fp:\n",
-        "  json.dump(env_cfg.to_json(), fp, indent=4)"
+        "  json.dump(env_cfg.to_dict(), fp, indent=4)"
       ]
     },
     {

diff --git a/learning/train_jax_ppo.py b/learning/train_jax_ppo.py
@@ -266,7 +266,7 @@ def main(argv):
 
   # Save environment configuration
   with open(ckpt_path / "config.json", "w", encoding="utf-8") as fp:
-    json.dump(env_cfg.to_json(), fp, indent=4)
+    json.dump(env_cfg.to_dict(), fp, indent=4)
 
   # Define policy parameters function for saving checkpoints
   def policy_params_fn(current_step, make_policy, params):  # pylint: disable=unused-argument

diff --git a/learning/train_rsl_rl.py b/learning/train_rsl_rl.py
@@ -139,7 +139,7 @@ def main(argv):
   with open(
       os.path.join(ckpt_path, "config.json"), "w", encoding="utf-8"
   ) as fp:
-    json.dump(env_cfg.to_json(), fp, indent=4)
+    json.dump(env_cfg.to_dict(), fp, indent=4)
 
   # Domain randomization
   randomizer = registry.get_domain_randomizer(_ENV_NAME.value)

diff --git a/mujoco_playground/experimental/learning/cube_reorient.ipynb b/mujoco_playground/experimental/learning/cube_reorient.ipynb
@@ -158,7 +158,7 @@
     "print(f\"{ckpt_path}\")\n",
     "\n",
     "with open(ckpt_path / \"config.json\", \"w\") as fp:\n",
-    "  json.dump(env_cfg.to_json(), fp, indent=4)"
+    "  json.dump(env_cfg.to_dict(), fp, indent=4)"
    ]
   },
   {

diff --git a/mujoco_playground/experimental/learning/cube_rotate.ipynb b/mujoco_playground/experimental/learning/cube_rotate.ipynb
@@ -143,7 +143,7 @@
     "print(f\"{ckpt_path}\")\n",
     "\n",
     "with open(ckpt_path / \"config.json\", \"w\") as fp:\n",
-    "  json.dump(env_cfg.to_json(), fp, indent=4)"
+    "  json.dump(env_cfg.to_dict(), fp, indent=4)"
    ]
   },
   {

diff --git a/mujoco_playground/experimental/learning/gait_tracking.ipynb b/mujoco_playground/experimental/learning/gait_tracking.ipynb
@@ -135,7 +135,7 @@
     "print(f\"Checkpoint path: {ckpt_path}\")\n",
     "\n",
     "with open(ckpt_path / \"config.json\", \"w\") as fp:\n",
-    "  json.dump(env_cfg.to_json(), fp, indent=4)\n",
+    "  json.dump(env_cfg.to_dict(), fp, indent=4)\n",
     "\n",
     "\n",
     "def policy_params_fn(current_step, make_policy, params):\n",

diff --git a/mujoco_playground/experimental/learning/getup.ipynb b/mujoco_playground/experimental/learning/getup.ipynb
@@ -155,7 +155,7 @@
     "print(f\"{ckpt_path}\")\n",
     "\n",
     "with open(ckpt_path / \"config.json\", \"w\") as fp:\n",
-    "  json.dump(env_cfg.to_json(), fp, indent=4)"
+    "  json.dump(env_cfg.to_dict(), fp, indent=4)"
    ]
   },
   {

diff --git a/mujoco_playground/experimental/learning/handstand.ipynb b/mujoco_playground/experimental/learning/handstand.ipynb
@@ -150,7 +150,7 @@
     "print(f\"{ckpt_path}\")\n",
     "\n",
     "with open(ckpt_path / \"config.json\", \"w\") as fp:\n",
-    "  json.dump(env_cfg.to_json(), fp, indent=4)"
+    "  json.dump(env_cfg.to_dict(), fp, indent=4)"
    ]
   },
   {

diff --git a/mujoco_playground/experimental/learning/humanoid_joystick.ipynb b/mujoco_playground/experimental/learning/humanoid_joystick.ipynb
@@ -159,7 +159,7 @@
     "print(f\"{ckpt_path}\")\n",
     "\n",
     "with open(ckpt_path / \"config.json\", \"w\") as fp:\n",
-    "  json.dump(env_cfg.to_json(), fp, indent=4)"
+    "  json.dump(env_cfg.to_dict(), fp, indent=4)"
    ]
   },
   {

diff --git a/mujoco_playground/experimental/learning/humanoid_joystick_gait_tracking.ipynb b/mujoco_playground/experimental/learning/humanoid_joystick_gait_tracking.ipynb
@@ -128,7 +128,7 @@
     "print(f\"Checkpoint path: {ckpt_path}\")\n",
     "\n",
     "with open(ckpt_path / \"config.json\", \"w\") as fp:\n",
-    "  json.dump(env_cfg.to_json(), fp, indent=4)\n",
+    "  json.dump(env_cfg.to_dict(), fp, indent=4)\n",
     "\n",
     "\n",
     "def policy_params_fn(current_step, make_policy, params):\n",

diff --git a/mujoco_playground/experimental/learning/joystick.ipynb b/mujoco_playground/experimental/learning/joystick.ipynb
@@ -157,7 +157,7 @@
     "print(f\"Checkpoint path: {ckpt_path}\")\n",
     "\n",
     "with open(ckpt_path / \"config.json\", \"w\") as fp:\n",
-    "  json.dump(env_cfg.to_json(), fp, indent=4)"
+    "  json.dump(env_cfg.to_dict(), fp, indent=4)"
    ]
   },
   {

diff --git a/mujoco_playground/experimental/learning/joystick_gait_tracking.ipynb b/mujoco_playground/experimental/learning/joystick_gait_tracking.ipynb
@@ -128,7 +128,7 @@
     "print(f\"Checkpoint path: {ckpt_path}\")\n",
     "\n",
     "with open(ckpt_path / \"config.json\", \"w\") as fp:\n",
-    "  json.dump(env_cfg.to_json(), fp, indent=4)\n",
+    "  json.dump(env_cfg.to_dict(), fp, indent=4)\n",
     "\n",
     "\n",
     "def policy_params_fn(current_step, make_policy, params):\n",

diff --git a/mujoco_playground/experimental/learning/open_cabinet.ipynb b/mujoco_playground/experimental/learning/open_cabinet.ipynb
@@ -103,7 +103,7 @@
     "print(f\"Checkpoint path: {ckpt_path}\")\n",
     "\n",
     "with open(ckpt_path / \"config.json\", \"w\") as fp:\n",
-    "  json.dump(env_cfg.to_json(), fp, indent=4)\n",
+    "  json.dump(env_cfg.to_dict(), fp, indent=4)\n",
     "\n",
     "\n",
     "def policy_params_fn(current_step, make_policy, params):\n",

diff --git a/mujoco_playground/experimental/learning/position_cube.ipynb b/mujoco_playground/experimental/learning/position_cube.ipynb
@@ -134,7 +134,7 @@
     "print(f\"Checkpoint path: {ckpt_path}\")\n",
     "\n",
     "with open(ckpt_path / \"config.json\", \"w\") as fp:\n",
-    "  json.dump(env_cfg.to_json(), fp, indent=4)\n",
+    "  json.dump(env_cfg.to_dict(), fp, indent=4)\n",
     "\n",
     "\n",
     "def policy_params_fn(current_step, make_policy, params):\n",