Fix typo in locomotion notebook.

PiperOrigin-RevId: 716261752 Change-Id: I7b0774d8dfcfcae260881d5864753881f1e630b1
google-deepmind · Jan 16, 2025 · a0ffd17 · a0ffd17
1 parent 724ed64
commit a0ffd17
Showing 1 changed file with 11 additions and 11 deletions.
diff --git a/learning/notebooks/locomotion.ipynb b/learning/notebooks/locomotion.ipynb
@@ -29,9 +29,9 @@
         "id": "_UbO9uhtBSX5"
       },
       "source": [
-        "> <p><small><small>Copyright 2025 DeepMind Technologies Limited.</small></p>\n",
-        "> <p><small><small>Licensed under the Apache License, Version 2.0 (the \"License\"); you may not use this file except in compliance with the License. You may obtain a copy of the License at <a href=\"http://www.apache.org/licenses/LICENSE-2.0\">http://www.apache.org/licenses/LICENSE-2.0</a>.</small></small></p>\n",
-        "> <p><small><small>Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an \"AS IS\" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.</small></small></p>"
+        "\u003e \u003cp\u003e\u003csmall\u003e\u003csmall\u003eCopyright 2025 DeepMind Technologies Limited.\u003c/small\u003e\u003c/p\u003e\n",
+        "\u003e \u003cp\u003e\u003csmall\u003e\u003csmall\u003eLicensed under the Apache License, Version 2.0 (the \"License\"); you may not use this file except in compliance with the License. You may obtain a copy of the License at \u003ca href=\"http://www.apache.org/licenses/LICENSE-2.0\"\u003ehttp://www.apache.org/licenses/LICENSE-2.0\u003c/a\u003e.\u003c/small\u003e\u003c/small\u003e\u003c/p\u003e\n",
+        "\u003e \u003cp\u003e\u003csmall\u003e\u003csmall\u003eUnless required by applicable law or agreed to in writing, software distributed under the License is distributed on an \"AS IS\" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.\u003c/small\u003e\u003c/small\u003e\u003c/p\u003e"
       ]
     },
     {
@@ -40,11 +40,11 @@
         "id": "dNIJkb_FM2Ux"
       },
       "source": [
-        "# Locomotion in The Playground! <a href=\"https://colab.research.google.com/github/google-deepmind/mujoco_playground/blob/main/learning/notebooks/locomotion.ipynb\"><img src=\"https://colab.research.google.com/assets/colab-badge.svg\" width=\"140\" align=\"center\"/></a>\n",
+        "# Locomotion in The Playground! \u003ca href=\"https://colab.research.google.com/github/google-deepmind/mujoco_playground/blob/main/learning/notebooks/locomotion.ipynb\"\u003e\u003cimg src=\"https://colab.research.google.com/assets/colab-badge.svg\" width=\"140\" align=\"center\"/\u003e\u003c/a\u003e\n",
         "\n",
         "In this notebook, we'll walk through a few locomotion environments available in MuJoCo Playground.\n",
         "\n",
-        "**A Colab runtime with GPU acceleration is required.** If you're using a CPU-only runtime, you can switch using the menu \"Runtime > Change runtime type\".\n"
+        "**A Colab runtime with GPU acceleration is required.** If you're using a CPU-only runtime, you can switch using the menu \"Runtime \u003e Change runtime type\".\n"
       ]
     },
     {
@@ -107,7 +107,7 @@
         "  print('Checking that the installation succeeded:')\n",
         "  import mujoco\n",
         "\n",
-        "  mujoco.MjModel.from_xml_string('<mujoco/>')\n",
+        "  mujoco.MjModel.from_xml_string('\u003cmujoco/\u003e')\n",
         "except Exception as e:\n",
         "  raise e from RuntimeError(\n",
         "      'Something went wrong during installation. Check the shell output above '\n",
@@ -142,7 +142,7 @@
         "\n",
         "# Graphics and plotting.\n",
         "print(\"Installing mediapy:\")\n",
-        "!command -v ffmpeg >/dev/null || (apt update && apt install -y ffmpeg)\n",
+        "!command -v ffmpeg \u003e/dev/null || (apt update \u0026\u0026 apt install -y ffmpeg)\n",
         "!pip install -q mediapy\n",
         "import mediapy as media\n",
         "import matplotlib.pyplot as plt\n",
@@ -476,11 +476,11 @@
         "command = jp.array([x_vel, y_vel, yaw_vel])\n",
         "\n",
         "state = jit_reset(rng)\n",
-        "if state.info[\"steps_since_last_pert\"] < state.info[\"steps_until_next_pert\"]:\n",
+        "if state.info[\"steps_since_last_pert\"] \u003c state.info[\"steps_until_next_pert\"]:\n",
         "  rng = sample_pert(rng)\n",
         "state.info[\"command\"] = command\n",
         "for i in range(env_cfg.episode_length):\n",
-        "  if state.info[\"steps_since_last_pert\"] < state.info[\"steps_until_next_pert\"]:\n",
+        "  if state.info[\"steps_since_last_pert\"] \u003c state.info[\"steps_until_next_pert\"]:\n",
         "    rng = sample_pert(rng)\n",
         "  act_rng, rng = jax.random.split(rng)\n",
         "  ctrl, _ = jit_inference_fn(state.obs, act_rng)\n",
@@ -645,13 +645,13 @@
         "command = jp.array([x, 0, 0])\n",
         "state = jit_reset(rng)\n",
         "for i in range(1_400):\n",
-        "  # Increase the forward velocity by 0.2 m/s every 200 steps.\n",
+        "  # Increase the forward velocity by 0.25 m/s every 200 steps.\n",
         "  if i % 200 == 0:\n",
         "    x += 0.25\n",
         "    print(f\"Setting x to {x}\")\n",
         "    command = jp.array([x, 0, 0])\n",
         "  state.info[\"command\"] = command\n",
-        "  if state.info[\"steps_since_last_pert\"] < state.info[\"steps_until_next_pert\"]:\n",
+        "  if state.info[\"steps_since_last_pert\"] \u003c state.info[\"steps_until_next_pert\"]:\n",
         "    rng = sample_pert(rng)\n",
         "  act_rng, rng = jax.random.split(rng)\n",
         "  ctrl, _ = jit_inference_fn(state.obs, act_rng)\n",