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Minor updates.

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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
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mjx/tutorial.ipynb
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@@ -321,7 +321,7 @@
"source": [ "source": [
"Now let's run the same exact simulation on the GPU device using MJX!\n", "Now let's run the same exact simulation on the GPU device using MJX!\n",
"\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", "\n",
"Let's instantiate the environment and visualize a short rollout.\n", "Let's instantiate the environment and visualize a short rollout.\n",
"\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."
] ]
}, },
{ {