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fix dt error #1

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fix dt error #1

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3515dd7
fix model.md
qdsang Jul 10, 2024
1efd0d0
fix model.md
qdsang Jul 10, 2024
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6 changes: 4 additions & 2 deletions docs/get-started/model.md
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Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,8 @@ Let's write those down in a dynamics function
=== "Python"

```py
import autograd.numpy as np

mc = 0.2 # mass of the cart (kg)
mp = 0.1 # mass of the pole (kg)
ℓ = 0.5 # distance to the center of mass (meters)
Expand Down Expand Up @@ -116,8 +118,8 @@ Our integrator takes in the state and control at the current time step and integ

dt = 0.01

A = AG.jacobian(lambda x_: cartpole_rk4(x_, ugoal))(xgoal)
B = AG.jacobian(lambda u_: cartpole_rk4(xgoal, u_))(ugoal)
A = AG.jacobian(lambda x_: cartpole_rk4(x_, ugoal, dt))(xgoal)
B = AG.jacobian(lambda u_: cartpole_rk4(xgoal, u_, dt))(ugoal)
```

=== "Julia"
Expand Down