Update struct_indexer documentation: it no longer returns a namedtuple.

yotam · alimuldal · commit 44f1adde6e55 · 2018-10-15T23:14:07.000+01:00
PiperOrigin-RevId: 217113157
diff --git a/dm_control/mujoco/index.py b/dm_control/mujoco/index.py
@@ -582,7 +582,7 @@ def get_name_arr_and_len(dim_idx):
 
 
 def struct_indexer(struct, struct_name, size_to_axis_indexer):
-  """Returns a namedtuple with a `FieldIndexer` for each dynamic array field.
+  """Returns an object with a `FieldIndexer` attribute for each dynamic field.
 
   Usage example
 
@@ -598,8 +598,9 @@ def struct_indexer(struct, struct_name, size_to_axis_indexer):
     size_to_axis_indexer: dict that maps size names to `Axis` instances.
 
   Returns:
-    A `namedtuple` with a field for every dynamically sized array field mapping
-      to a `FieldIndexer`.
+    An object with a field for every dynamically sized array field, mapping to a
+    `FieldIndexer`. The returned object is immutable and has an `_asdict`
+    method.
 
   Raises:
     ValueError: If `struct_name` is not recognized.
diff --git a/dm_control/mujoco/wrapper/util.py b/dm_control/mujoco/wrapper/util.py
@@ -38,7 +38,7 @@
 ENV_MJLIB_PATH = "MJLIB_PATH"
 ENV_MJKEY_PATH = "MJKEY_PATH"
 
-MJLIB_NAME = "mujoco150"
+MJLIB_NAME = "mujoco200"
 
 
 def _get_shared_library_filename():
@@ -59,7 +59,7 @@ def _get_shared_library_filename():
 
 
 DEFAULT_MJLIB_PATH = os.path.join(
-    "~/.mujoco/mjpro150/bin", _get_shared_library_filename())
+    "~/.mujoco/mujoco200_{}/bin".format(_PLATFORM_SUFFIX), _get_shared_library_filename())
 DEFAULT_MJKEY_PATH = "~/.mujoco/mjkey.txt"
 
 
