chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

Minor updates.

Browse Source 
Fix a typo and a comment.

PiperOrigin-RevId: 715672977
Change-Id: I281002aad2b40b59544c30f41aa113e13ae9d09e
This commit is contained in:
Andrea Gesmundo
2025-01-14 23:56:02 -08:00
committed by Copybara-Service
parent 61973a33c9
commit 66f2758ea5
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
mjx/tutorial.ipynb
+2 -2
View File
@@ -321,7 +321,7 @@
"source": [
"Now let's run the same exact simulation on the GPU device using MJX!\n",
"\n",
"In the example below, we use `mjx.step` instead of `mujoco.mj_step`, and we also [`jax.jit`](https://jax.readthedocs.io/en/latest/jax-101/02-jitting.html) the `mjx.step` so that it runs efficiently on the GPU. After each step, we convert the `mjx.Data` back to `mjData` so that we can use the MuJoCo renderer.\n"
"In the example below, we use `mjx.step` instead of `mujoco.mj_step`, and we also [`jax.jit`](https://jax.readthedocs.io/en/latest/jax-101/02-jitting.html) the `mjx.step` so that it runs efficiently on the GPU. For each frame, we convert the `mjx.Data` back to `mjData` so that we can use the MuJoCo renderer.\n"
]
},
{
@@ -563,7 +563,7 @@
"\n",
"Let's instantiate the environment and visualize a short rollout.\n",
"\n",
"NOTE: Since episodes terminates early if the torso is below the healthy z-range, the only relevant contacts for this task are between the feet and the plane. We turn off other contacts."
"NOTE: Since episodes terminate early if the torso is below the healthy z-range, the only relevant contacts for this task are between the feet and the plane. We turn off other contacts."
]
},
{