From a4588cee124d7dc0e3e6103a89c3b92a3f93897d Mon Sep 17 00:00:00 2001
From: Baruch Tabanpour <btaba@google.com>
Date: Tue, 24 Oct 2023 09:07:17 -0700
Subject: [PATCH] Fix https://github.com/google-deepmind/mujoco/issues/1123

PiperOrigin-RevId: 576159322
Change-Id: I29fc3df294af008f55324bc49c0f597d778e3392
---
 mjx/tutorial.ipynb | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/mjx/tutorial.ipynb b/mjx/tutorial.ipynb
index 83e1bd30..0591029a 100644
--- a/mjx/tutorial.ipynb
+++ b/mjx/tutorial.ipynb
@@ -313,7 +313,7 @@
         "    \"\"\"Returns 6d spatial transform and 6d velocity for all bodies.\"\"\"\n",
         "    x = Transform(pos=data.xpos[1:, :], rot=data.xquat[1:, :])\n",
         "    cvel = Motion(vel=data.cvel[1:, 3:], ang=data.cvel[1:, :3])\n",
-        "    offset = data.xipos[1:, :] - data.subtree_com[\n",
+        "    offset = data.xpos[1:, :] - data.subtree_com[\n",
         "        self.model.body_rootid[np.arange(1, self.model.nbody)]]\n",
         "    xd = Transform.create(pos=offset).vmap().do(cvel)\n",
         "    return x, xd\n"