From f1d4b23e48a3c71e15a0f36c56e6e04c06886d60 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Mon, 28 Oct 2024 14:17:51 -0700
Subject: [PATCH] mjSpec tutorial backwards compatibility with the latest
 MuJoCo release.

PiperOrigin-RevId: 690747714
Change-Id: Ib8894a1dc2a68e30a110e773c77fbd2baee87efd
---
 python/mjspec.ipynb | 25 ++++++++++++++++++-------
 1 file changed, 18 insertions(+), 7 deletions(-)

diff --git a/python/mjspec.ipynb b/python/mjspec.ipynb
index 6f9455fd87..6d54be7250 100644
--- a/python/mjspec.ipynb
+++ b/python/mjspec.ipynb
@@ -172,7 +172,7 @@
     "render(model)\n",
     "\n",
     "# Change the mjSpec, re-compile and re-render\n",
-    "geoms = spec.worldbody.find_all('geom')\n",
+    "geoms = spec.worldbody.find_all(mj.mjtObj.mjOBJ_GEOM)\n",
     "geoms[0].name = 'blue_box'\n",
     "geoms[0].rgba = [0, 0, 1, 1]\n",
     "geoms[1].name = 'yellow_sphere'\n",
@@ -392,7 +392,11 @@
     "#@title Six Creatures on a floor.{vertical-output: true}\n",
     "\n",
     "arena = mj.MjSpec()\n",
-    "arena.compiler.degree = False  # Use radians.\n",
+    "\n",
+    "if hasattr(arena, 'compiler'):\n",
+    "  arena.compiler.degree = False  # MuJoCo dev (next release).\n",
+    "else:\n",
+    "  arena.degree = False  # MuJoCo release\n",
     "\n",
     "# Make arena with textured floor.\n",
     "chequered = arena.add_texture(\n",
@@ -452,7 +456,7 @@
     "video = []\n",
     "pos_x = []\n",
     "pos_y = []\n",
-    "geoms = arena.worldbody.find_all(\"geom\")\n",
+    "geoms = arena.worldbody.find_all(mj.mjtObj.mjOBJ_GEOM)\n",
     "torsos = [geom.id for geom in geoms if 'torso' in geom.name]\n",
     "actuators = [actuator.id for actuator in arena.actuators]\n",
     "\n",
@@ -703,7 +707,11 @@
     "\n",
     "spec = mj.MjSpec.from_file(humanoid_file)\n",
     "franka = mj.MjSpec.from_file(franka_file)\n",
-    "spec.compiler.degree = False  # This has no effect on the humanoid as it does not contain angles\n",
+    "\n",
+    "if hasattr(spec, 'compiler'):\n",
+    "  spec.compiler.degree = False  # MuJoCo dev (next release).\n",
+    "else:\n",
+    "  spec.degree = False  # MuJoCo release\n",
     "\n",
     "# Replace right arm with frame\n",
     "arm_right = spec.find_body('upper_arm_right')\n",
@@ -805,15 +813,18 @@
   }
  ],
  "metadata": {
+  "accelerator": "GPU",
   "colab": {
+   "collapsed_sections": [
+    "sJFuNetilv4m"
+   ],
+   "gpuClass": "premium",
    "private_outputs": true
   },
+  "gpuClass": "premium",
   "kernelspec": {
    "display_name": "Python 3",
    "name": "python3"
-  },
-  "language_info": {
-   "name": "python"
   }
  },
  "nbformat": 4,